Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision | Zendy

Linhui Li | Zendy; Jing Lian | Zendy; Mengmeng Wang | Zendy; Ming Li | Zendy

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Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision

Author(s) -

Linhui Li,

Jing Lian,

Mengmeng Wang,

Ming Li

Publication year - 2013

Publication title -

advances in mechanical engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.318

H-Index - 40

eISSN - 1687-8140

pISSN - 1687-8132

DOI - 10.1155/2013/216862

Subject(s) - control theory (sociology) , robustness (evolution) , sliding mode control , fuzzy logic , fuzzy control system , computer science , kinematics , mode (computer interface) , engineering , control engineering , control (management) , artificial intelligence , nonlinear system , biochemistry , chemistry , physics , classical mechanics , quantum mechanics , gene , operating system

The lateral control of intelligent vehicle is studied in this paper, with the intelligent vehicle DLUIV-1 based on visual navigation as the object of research. Firstly, the lateral control model based on visual preview is established. The kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error. Secondly, according to the characteristics of lateral control, an efficient strategy of intelligent vehicle lateral mode is proposed. The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface. The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition. The sliding mode switching function is regarded as the control objective, to ensure the stability of the steering wheel rotation. Simulation results show that the lateral controller can guarantee high path-tracking accuracy and strong robustness for the change of model parameters

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