Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode
Aiming at precisely tracking an intelligent vehicle on a desired trajectory, this paper proposes an intelligent vehicle trajectory planning and control strategy based on an improved terminal sliding mold. Firstly, the traditional RRT algorithm is improved by using the target bias strategy and the se...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/5/2446 |
| _version_ | 1797475680229785600 |
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| author | Aijuan Li Chuanhu Niu Shunming Li Xin Huang Chuanyan Xu Gang Liu |
| author_facet | Aijuan Li Chuanhu Niu Shunming Li Xin Huang Chuanyan Xu Gang Liu |
| author_sort | Aijuan Li |
| collection | DOAJ |
| description | Aiming at precisely tracking an intelligent vehicle on a desired trajectory, this paper proposes an intelligent vehicle trajectory planning and control strategy based on an improved terminal sliding mold. Firstly, the traditional RRT algorithm is improved by using the target bias strategy and the separation axis theorem to improve the algorithm search efficiency. Secondly, an improved terminal sliding mode controller is designed. The controller comprehensively considers the lateral error and heading error of the tracking control, and the stability of the control system is proven by the Lyapunov function. Finally, the performance of the designed controller is verified by the Matlab-Carsim HIL simulation platform. The test results of the Matlab-Carsim HIL simulation platform show that, compared with the general terminal sliding mode controller, the improved terminal sliding mode controller designed in this paper has higher control accuracy and better robustness. |
| first_indexed | 2024-03-09T20:47:27Z |
| format | Article |
| id | doaj.art-362df6b33822407097130f7920d67cf1 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T20:47:27Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-362df6b33822407097130f7920d67cf12023-11-23T22:40:59ZengMDPI AGApplied Sciences2076-34172022-02-01125244610.3390/app12052446Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding ModeAijuan Li0Chuanhu Niu1Shunming Li2Xin Huang3Chuanyan Xu4Gang Liu5School of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, ChinaSchool of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, ChinaCollege of Energy and Power Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, ChinaSchool of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, ChinaSchool of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, ChinaOffice of Academic Affairs, Shandong Jiaotong University, Jinan 250357, ChinaAiming at precisely tracking an intelligent vehicle on a desired trajectory, this paper proposes an intelligent vehicle trajectory planning and control strategy based on an improved terminal sliding mold. Firstly, the traditional RRT algorithm is improved by using the target bias strategy and the separation axis theorem to improve the algorithm search efficiency. Secondly, an improved terminal sliding mode controller is designed. The controller comprehensively considers the lateral error and heading error of the tracking control, and the stability of the control system is proven by the Lyapunov function. Finally, the performance of the designed controller is verified by the Matlab-Carsim HIL simulation platform. The test results of the Matlab-Carsim HIL simulation platform show that, compared with the general terminal sliding mode controller, the improved terminal sliding mode controller designed in this paper has higher control accuracy and better robustness.https://www.mdpi.com/2076-3417/12/5/2446intelligent vehicletarget bias strategyseparation axis theoremimproved RRT algorithmimproved terminal sliding mode control |
| spellingShingle | Aijuan Li Chuanhu Niu Shunming Li Xin Huang Chuanyan Xu Gang Liu Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode Applied Sciences intelligent vehicle target bias strategy separation axis theorem improved RRT algorithm improved terminal sliding mode control |
| title | Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode |
| title_full | Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode |
| title_fullStr | Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode |
| title_full_unstemmed | Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode |
| title_short | Research on Intelligent Vehicle Trajectory Planning and Control Based on an Improved Terminal Sliding Mode |
| title_sort | research on intelligent vehicle trajectory planning and control based on an improved terminal sliding mode |
| topic | intelligent vehicle target bias strategy separation axis theorem improved RRT algorithm improved terminal sliding mode control |
| url | https://www.mdpi.com/2076-3417/12/5/2446 |
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