LATERAL AUTONOMOUS DRIVING BY SLIDING CONTROL

This paper investigates platooning of vehicles in their lateral motion. Point-follower control, vehicle-follower control, and trajectory-follower control methods are introduced. The tracking control algorithms for each method are constructed using sliding control theory. The methods are compared in regard to system requirements, and vehicle platooning by each system is simulated using a simplified vehicle model. It is shown that while point-follower guarantees high road tracking ability, nearly the same performance can be attained by trajectory-follower control which is less dependent on wayside systems.