Design and validation of a robust immersion and invariance controller for the lateral dynamics of intelligent vehicles

This paper focuses on the lateral control of intelligent vehicles; the aim is to minimize the lateral displacement of the autonomous vehicle with respect to a given reference path. The control input is the steering angle and the output is the lateral displacement error. We present the design and validation of a robust lateral controller based on the Immersion and Invariance (I&I) principle in order to ensure robust stability and good performances with respect to parametric variations and uncertainties that are encountered in driving applications. To validate our control law, tests were performed on SCANeR Studio, a driving simulation engine, according to several real driving scenarios. Simulations were also performed using experimental data acquired by the DYNA vehicle (a Peugeot 308) belonging to the Heudiasyc laboratory. The validation demonstrates the robustness and good performances of the proposed control approach and clearly shows the improvement due to the I&I controller.

[1]  Uwe Kiencke,et al.  Automotive Control Systems , 2005 .

[2]  Riccardo Marino,et al.  Nested PID steering control for lane keeping in autonomous vehicles , 2011 .

[3]  P. Kokotovic,et al.  On vanishing stability regions in nonlinear systems with high-gain feedback , 1986 .

[4]  L Segel,et al.  An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance , 1970 .

[5]  Reza N. Jazar,et al.  Vehicle Dynamics: Theory and Application , 2009 .

[6]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[7]  Vadim I. Utkin,et al.  Linear and nonlinear controller design for robust automatic steering , 1995, IEEE Trans. Control. Syst. Technol..

[8]  Chouki Sentouh,et al.  Fuzzy Takagi-Sugeno LQ controller for lateral control assistance of a vehicle , 2012, 2012 IEEE Intelligent Vehicles Symposium.

[9]  John T. Economou,et al.  Energy conservation based fuzzy tracking for unmanned aerial vehicle missions under a priori known wind information , 2011, Eng. Appl. Artif. Intell..

[10]  Tao Mei,et al.  Dynamic motion planning for autonomous vehicle in unknown environments , 2011, 2011 IEEE Intelligent Vehicles Symposium (IV).

[11]  Yong Zhang,et al.  Controller design for vehicle stability enhancement , 2006 .

[12]  B. Lusetti,et al.  Driver steering assistance for lane departure avoidance , 2009 .

[13]  Ali Charara,et al.  Higher-order sliding mode control for lateral dynamics of autonomous vehicles, with experimental validation , 2013, 2013 IEEE Intelligent Vehicles Symposium (IV).

[14]  Sebastian Thrun,et al.  Towards fully autonomous driving: Systems and algorithms , 2011, 2011 IEEE Intelligent Vehicles Symposium (IV).

[15]  Luca Gatti,et al.  VIAC: An out of ordinary experiment , 2011, 2011 IEEE Intelligent Vehicles Symposium (IV).

[16]  Benoit Vanholme,et al.  Trajectory tracking for highly automated passenger vehicles , 2011 .

[17]  José Eugenio Naranjo,et al.  Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver , 2008, IEEE Transactions on Intelligent Transportation Systems.

[18]  Sanjiv Singh,et al.  The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, George Air Force Base, Victorville, California, USA , 2009, The DARPA Urban Challenge.

[19]  Dongwook Kim,et al.  Control strategy for high-speed autonomous driving in structured road , 2011, 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[20]  Francesco Borrelli,et al.  Linear time‐varying model predictive control and its application to active steering systems: Stability analysis and experimental validation , 2008 .

[21]  M.S. Netto,et al.  H/sub /spl infin//, adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[22]  Gregor Klan.  Tracking-error model-based predictive control for mobile robots in real time , 2007 .

[23]  Masayoshi Tomizuka,et al.  Experimental evaluation of a chatter free sliding mode control for lateral control in AHS , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[24]  Ali Charara,et al.  Immersion and invariance control for lateral dynamics of autonomous vehicles, with experimental validation , 2013, 2013 European Control Conference (ECC).

[25]  Ali Charara,et al.  Switched LQR/H steering vehicle control to detect critical driving situations , 2014 .

[26]  Alessandro Astolfi,et al.  Nonlinear and adaptive control with applications , 2008 .

[27]  Lydie Nouvelière,et al.  Backstepping based approach for the combined longitudinal-lateral vehicle control , 2012, 2012 IEEE Intelligent Vehicles Symposium.

[28]  M.S. Netto,et al.  Lateral adaptive control for vehicle lane keeping , 2004, Proceedings of the 2004 American Control Conference.

[29]  Hocine Imine,et al.  Sliding‐mode control for automated lane guidance of heavy vehicle , 2013 .

[30]  Igor Skrjanc,et al.  Tracking-error model-based predictive control for mobile robots in real time , 2007, Robotics Auton. Syst..

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

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

[33]  Vicente Milanés Montero,et al.  Automatic lateral control for unmanned vehicles via genetic algorithms , 2011, Appl. Soft Comput..

[34]  Ragunathan Rajkumar,et al.  Towards a viable autonomous driving research platform , 2013, 2013 IEEE Intelligent Vehicles Symposium (IV).