In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.
Adaptive Method to Trajectory Tracking for Lane Changing
Applied Mechanics and Materials ; 590 ; 413-417
30.06.2014
5 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Illegal lane changing supervision method and system based on trajectory tracking
Europäisches Patentamt | 2024
|Europäisches Patentamt | 2024
|Lane changing trajectory planning method for autonomous vehicle
Europäisches Patentamt | 2023
|METHOD AND APPARATUS FOR PLANNING LANE-CHANGING TRAJECTORY
Europäisches Patentamt | 2024
|Intelligent vehicle autonomous lane changing trajectory planning method
Europäisches Patentamt | 2024
|