Longitudinal and lateral coupling control trajectory tracking algorithm

Abstract

Taking into account the strong dynamic coupling effects when conducting longitudinal and lateral coupling control this study presents a trajectory tracking algorithm for intelligent vehicle. The vehicle's kinematic model and pose error model are established. The expected yaw velocity can be acquired by planning a virtual path between the vehicle mass center and the look-ahead target point in real time. Then, a sliding mode variable structure trajectory tracking controller is designed based on the longitudinal and lateral coupling nonlinear dynamic model of vehicle. The stability of the control system is analyzed using Lyapunov function method. Finally, the interactive combination control dynamic simulation is realized using Matlab and ADAMS. The multi-body dynamics model of the intelligent vehicle is built in ADAMS and the data interface between Matlab and ADAMS is designed. The co-simulation results show that the proposed algorithm can improve the control performance of the system considering vehicle longitudinal and lateral coupling influence. © 2013 Asian Network for Scientific Information.