Lateral control is considered to be one of the toughest challenges in the development of automated vehicles due to their features of nonlinearities, parametric uncertainties and external disturbances. In order to overcome these difficulties, an adaptive fuzzy-sliding mode control strategy used for lateral control of vision-based automated vehicles is proposed in this paper. First, a vision algorithm is designed to provide accurate location information of vehicle relative to reference path. Then, an adaptive fuzzy-sliding mode lateral controller is proposed to counteract parametric uncertainties and strong nonlinearities, and the asymptotic stability of the closed-loop lateral control system is proven by the Lyapunov theory. Finally, experimental results indicate that the proposed algorithm can achieve favourable tracking performance, and it has strong robustness.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An adaptive fuzzy-sliding lateral control strategy of automated vehicles based on vision navigation


    Contributors:
    Guo, Jinghua (author) / Li, Linhui (author) / Li, Keqiang (author) / Wang, Rongben (author)

    Published in:

    Vehicle System Dynamics ; 51 , 10 ; 1502-1517


    Publication date :

    2013


    Size :

    16 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    An adaptive fuzzy-sliding lateral control strategy of automated vehicles based on vision navigation

    Guo, Jinghua / Li, Linhui / Li, Keqiang et al. | Taylor & Francis Verlag | 2013




    Vision-based lateral control of vehicles

    Kosecka, J. / Blasi, R. / Taylor, C.J. et al. | Tema Archive | 1997