SVM Based Lateral Control for Autonomous Vehicle

2005 ◽  
pp. 185-191
Author(s):  
Hanqing Zhao ◽  
Tao Wu ◽  
Daxue Liu ◽  
Yang Chen ◽  
Hangen He
Keyword(s):  
Autonomous Vehicle ◽  
Lateral Control

scholarly journals Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller

2018 ◽  
Vol 233 (1) ◽  
pp. 141-151 ◽  
Author(s):  
Armin Norouzi ◽  
Milad Masoumi ◽  
Ali Barari ◽  
Saina Farrokhpour Sani
Keyword(s):  
Optimization Algorithm ◽  
Sliding Mode ◽  
Autonomous Vehicle ◽  
Lane Change ◽  
Lateral Control ◽  
Lane Changing ◽  
Dynamic Constraints ◽  
Bicycle Model ◽  
Double Lane Change ◽  
Backstepping Controller

In this paper, a novel Lyapunov-based robust controller by using meta-heuristic optimization algorithm has been proposed for lateral control of an autonomous vehicle. In the first step, double lane change path has been designed using a fifth-degree polynomial (quantic) function and dynamic constraints. A lane changing path planning method has been used to design the double lane change manoeuvre. In the next step, position and orientation errors have been extracted based on the two-degree-of-freedom vehicle bicycle model. A combination of sliding mode and backstepping controllers has been used to control the steering in this paper. Overall stability of the combined controller has been analytically proved by defining a Lyapunov function and based on Lyapunov stability theorem. The proposed controller includes some constant parameters which have effects on controller performance; therefore, particle swarm optimization algorithm has been used for finding optimum values of these parameters. The comparing result of the proposed controller with backstepping controller illustrated the better performance of the proposed controller, especially in the low road frictions. Simulation of designed controllers has been conducted by linking CarSim software with Matlab/Simulink which provides a nonlinear full vehicle model. The simulation was performed for manoeuvres with different durations and road frictions. The proposed controller has outperformed the backstepping controller, especially in low frictions.

Autonomous Vehicle Lateral Control for the Lane-change Maneuver

2021 ◽  
pp. 285-295
Author(s):  
Lhoussain El Hajjami ◽  
El Mehdi Mellouli ◽  
Mohammed Berrada
Keyword(s):  
Autonomous Vehicle ◽  
Lane Change ◽  
Lateral Control

Lateral control of autonomous vehicle by yaw rate feedback

2002 ◽  
Vol 16 (3) ◽  
pp. 338-343 ◽  
Author(s):  
Ju Yong Choi ◽  
Seong Jae Hong ◽  
Kyoung Taik Park ◽  
Wan Suk Yoo ◽  
Man Hyung Lee
Keyword(s):  
Autonomous Vehicle ◽  
Lateral Control ◽  
Yaw Rate ◽  
Rate Feedback

Integrated Longitudinal and Lateral Control for Kuafu-II Autonomous Vehicle

2016 ◽  
Vol 17 (7) ◽  
pp. 2032-2041 ◽  
Author(s):  
Linhai Xu ◽  
Yingzhou Wang ◽  
Hongbin Sun ◽  
Jingmin Xin ◽  
Nanning Zheng
Keyword(s):  
Autonomous Vehicle ◽  
Lateral Control
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