Vehicle lateral control in the presence of uncertainty for lane change maneuver using adaptive sliding mode control with fuzzy boundary layer

Recent researches on advanced driver-assistance systems indicate great advances in terms of safety and comfort in automated driving. Advanced driver-assistance systems use control systems to perform most of the maneuvers as performed by the driver in the past. One of the useful advanced driver-assistance systems is automatic lane change system in order to avoid accidents. This study designs the controller of an automatic lane change system for an autonomous vehicle. The control law in this study is adaptive sliding mode control. To avoid chattering in adaptive sliding mode control, fuzzy boundary layer is used. Also, adaptive law is used for sliding-based switching gain. This adaptive controlling law is used to avoid the calculation of upper bound of system uncertainties. In this study, based on the boundary conditions, the vehicle lane change path planning and different maneuver periods are evaluated. To simulate the designed controller, CarSim–Simulink joint simulation model is used. This linkage leads to a full non-linear vehicle model. The results of simulation show excellent tracking for dry road conditions and acceptable tracking in icy and wet roads in some maneuvers of above 4-s long.

[1]  Fawzi Nashashibi,et al.  Adaptive steering control for autonomous lane change maneuver , 2013, 2013 IEEE Intelligent Vehicles Symposium (IV).

[2]  Dong In Kim,et al.  Optimal Energy Management Policy of Mobile Energy Gateway , 2016, IEEE Transactions on Vehicular Technology.

[3]  Azim Eskandarian,et al.  Vehicle Collision Avoidance Maneuvers With Limited Lateral Acceleration Using Optimal Trajectory Control , 2013 .

[4]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[5]  Michel Basset,et al.  Combined longitudinal and lateral control for automated vehicle guidance , 2014 .

[6]  Alireza Khosravi,et al.  Predictor-based model reference adaptive control for a vehicle lateral dynamics considering uncertainties , 2015, J. Syst. Control. Eng..

[7]  Mehran Sabahi,et al.  A modified integral sliding mode control to lateral stabilisation of 4-wheel independent drive electric vehicles , 2014 .

[8]  I. Emre Köse,et al.  Handling stability improvement through robust active front steering and active differential control , 2011 .

[9]  Riccardo Marino,et al.  Integrated Driver and Active Steering Control for Vision-Based Lane Keeping , 2012, Eur. J. Control.

[10]  Wenping Cao,et al.  A Lateral Control Method of Intelligent Vehicle Based on Fuzzy Neural Network , 2015 .

[11]  Thomas A. Dingus,et al.  IDENTIFICATION AND EVALUATION OF DRIVER ERRORS: OVERVIEW AND RECOMMENDATIONS , 2002 .

[12]  Seibum B. Choi,et al.  MPC for vehicle lateral stability via differential braking and active front steering considering practical aspects , 2016 .

[13]  Rongrong Wang,et al.  Robust H∞ output-feedback yaw control for in-wheel motor driven electric vehicles with differential steering , 2016, Neurocomputing.

[14]  C. Ashok Kumar,et al.  Nonlinear Coordinated Steering and Braking Control of Vision-Based Autonomous Vehicles in Emergency Obstacle Avoidance , 2017 .

[15]  Guodong Yin,et al.  Gain-Scheduled Vehicle Handling Stability Control Via Integration of Active Front Steering and Suspension Systems , 2016 .

[16]  Jing-ming Zhang,et al.  Lateral Control of Vehicle for Lane Keeping in Intelligent Transportation Systems , 2009, 2009 International Conference on Intelligent Human-Machine Systems and Cybernetics.

[17]  Kyongsu Yi,et al.  Design and evaluation of side slip angle-based vehicle stability control scheme on a virtual test track , 2006, IEEE Transactions on Control Systems Technology.

[18]  Junwei Lei,et al.  Sliding mode lane keeping control based on separation of translation and rotation movement , 2016 .

[19]  H. Karimi,et al.  Quantized ℋ∞ Filtering for Continuous‐Time Markovian Jump Systems with Deficient Mode Information , 2015 .

[20]  Junmin Wang,et al.  $\mathcal{H}_{\infty}$ Observer Design for LPV Systems With Uncertain Measurements on Scheduling Variables: Application to an Electric Ground Vehicle , 2016, IEEE/ASME Transactions on Mechatronics.

[21]  Andreas Kugi,et al.  A new flatness-based control of lateral vehicle dynamics , 2008 .

[22]  Guodong Yin,et al.  Gain-scheduled robust control for lateral stability of four-wheel-independent-drive electric vehicles via linear parameter-varying technique , 2015 .

[23]  Junmin Wang,et al.  Sideslip Angle Estimation of an Electric Ground Vehicle via Finite-Frequency $\mathcal {H}_{\infty}$ Approach , 2016, IEEE Transactions on Transportation Electrification.

[24]  Luis Martínez,et al.  Uncertainty Measures of Extended Hesitant Fuzzy Linguistic Term Sets , 2018, IEEE Transactions on Fuzzy Systems.

[25]  S Mammar,et al.  Active steering control based on piecewise affine regions , 2010, Proceedings of the 2010 American Control Conference.

[26]  YangQuan Chen,et al.  A Fractional Adaptation Scheme for Lateral Control of an AGV , 2008 .

[27]  Hidehisa Yoshida,et al.  Lane change steering manoeuvre using model predictive control theory , 2008 .

[28]  Keqiang Li,et al.  An adaptive fuzzy-sliding lateral control strategy of automated vehicles based on vision navigation , 2013 .

[29]  Francesco Borrelli,et al.  Scenario model predictive control for lane change assistance on highways , 2015, 2015 IEEE Intelligent Vehicles Symposium (IV).

[30]  Erdem Uzunsoy,et al.  Development of a trajectory following vehicle control model , 2016 .

[31]  Sterling J. Anderson,et al.  An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios , 2010 .

[32]  Hamid Reza Karimi,et al.  Fuzzy-Affine-Model-Based Memory Filter Design of Nonlinear Systems With Time-Varying Delay , 2018, IEEE Transactions on Fuzzy Systems.

[33]  Kyongsu Yi,et al.  Obstacle avoidance of autonomous vehicles based on model predictive control , 2009 .

[34]  Andrew Bartlett,et al.  Robust Control: Systems with Uncertain Physical Parameters , 1993 .

[35]  Bilin Aksun Güvenç,et al.  Automated Robust Path Following Control Based on Calculation of Lateral Deviation and Yaw Angle Error , 2015 .

[36]  Toshihiro Hiraoka,et al.  Automatic path-tracking controller of a four-wheel steering vehicle , 2009 .

[37]  Shahram Azadi,et al.  Towards a Decision-Making Algorithm for Automatic Lane Change Manoeuvre Considering Traffic Dynamics , 2016 .

[38]  J. Christian Gerdes,et al.  Safe driving envelopes for path tracking in autonomous vehicles , 2017 .

[39]  Shang-bin Song,et al.  Vehicle Control Strategies Analysis Based on PID and Fuzzy Logic Control , 2016 .

[40]  Mehdi Mirzaei,et al.  An optimal approach to non-linear control of vehicle yaw dynamics , 2008 .

[41]  Jiuhong Ruan,et al.  Study on Intelligent Vehicle Lane Change Path Planning and Control Simulation , 2006, 2006 IEEE International Conference on Information Acquisition.

[42]  Jian Wu,et al.  A new robust control method for active front steering considering the intention of the driver , 2015 .

[43]  Yaghoub Pourasad,et al.  Vehicle path tracking by integrated chassis control , 2015 .

[44]  Weidong Xiang,et al.  Vehicle Lateral Control and Yaw Stability Control through Differential Braking , 2006, 2006 IEEE International Symposium on Industrial Electronics.

[45]  Zongde Fang,et al.  Robust Lateral Motion Control of Electric Ground Vehicles With Random Network-Induced Delays , 2015, IEEE Transactions on Vehicular Technology.

[46]  Zhenmin Tang,et al.  Path tracking of unmanned vehicle based on parameters self-tuning fuzzy control , 2013, 2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems.

[47]  Junmin Wang,et al.  Sideslip Angle Estimation of an Electric Ground Vehicle via Finite-Frequency H∞ Approach , 2016 .

[48]  N. A. Abu Osman,et al.  An ANFIS Controller for Vision-based Lateral Vehicle Control System , 2006, 2006 9th International Conference on Control, Automation, Robotics and Vision.

[49]  A.J. Garrido,et al.  An adaptive sliding mode control law for induction motors using field oriented control theory , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[50]  Joshué Pérez,et al.  Fuzzy logic steering control of autonomous vehicles inside roundabouts , 2015, Appl. Soft Comput..

[51]  J. Song,et al.  Integrated control of brake pressure and rear-wheel steering to improve lateral stability with fuzzy logic , 2012 .

[52]  Azim Eskandarian,et al.  Comparison of linear and non-linear controllers for active steering of vehicles in evasive manoeuvres , 2012, J. Syst. Control. Eng..

[53]  Hamid Reza Karimi,et al.  Reliable Output Feedback Control of Discrete-Time Fuzzy Affine Systems With Actuator Faults , 2017, IEEE Transactions on Circuits and Systems I: Regular Papers.

[54]  Rongrong Wang,et al.  Integral Sliding Mode-Based Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Vehicles , 2016, IEEE Transactions on Transportation Electrification.

[55]  Junmin Wang,et al.  Adaptive Sliding-Mode Observer Design for a Selective Catalytic Reduction System of Ground-Vehicle Diesel Engines , 2016, IEEE/ASME Transactions on Mechatronics.

[56]  Matthew J. Jensen,et al.  A Comparison of Multiple Control Strategies for Vehicle Run-Off-Road and Return , 2015, IEEE Transactions on Vehicular Technology.

[57]  Said Mammar,et al.  Active Steering Assistance for Lane Keeping and Lane Departure Prevention , 2011 .

[58]  Hui Zhang,et al.  Active Steering Actuator Fault Detection for an Automatically-Steered Electric Ground Vehicle , 2017, IEEE Transactions on Vehicular Technology.

[59]  Fan Yu,et al.  Design of a vehicle lateral stability control system via a fuzzy logic control approach , 2010 .

[60]  Jianbin Qiu,et al.  Approaches to T–S Fuzzy-Affine-Model-Based Reliable Output Feedback Control for Nonlinear Itô Stochastic Systems , 2017, IEEE Transactions on Fuzzy Systems.

[61]  Jing Lian,et al.  Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision , 2013 .

[62]  Richa Sharma,et al.  An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload. , 2016, ISA transactions.

[63]  Martin Levesley,et al.  Coordination of active steering, driveline, and braking for integrated vehicle dynamics control , 2006 .

[64]  Hamid Reza Karimi,et al.  Robust stabilisation of 2D state-delayed stochastic systems with randomly occurring uncertainties and nonlinearities , 2014, Int. J. Syst. Sci..

[65]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .