Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus
A robust and high-performance lateral control system is necessary for autonomous bus driving in complex downtown roads. In this paper, a Sliding Mode (SM) controller with an uncertainty observer is proposed to reduce the chattering phenomenon while ensuring robustness and maintaining the control per...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10181314/ |
| _version_ | 1797774879149260800 |
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| author | Hun Hwangbo Jaeun Ryu Sangwon Han Kunsoo Huh |
| author_facet | Hun Hwangbo Jaeun Ryu Sangwon Han Kunsoo Huh |
| author_sort | Hun Hwangbo |
| collection | DOAJ |
| description | A robust and high-performance lateral control system is necessary for autonomous bus driving in complex downtown roads. In this paper, a Sliding Mode (SM) controller with an uncertainty observer is proposed to reduce the chattering phenomenon while ensuring robustness and maintaining the control performance. A stiffness gain is introduced in the cornering stiffness of rear wheels to compensate for the model uncertainty and external disturbance. For lane keeping and changing maneuvers, an optimal path planning algorithm is designed by considering dynamic constraints of the bus. The lane departure of bus is prevented with minimizing the lateral jerk through the sampling-based path regeneration process. The proposed lateral control system is compared to other conventional SM based controllers in the TRUCKSIM simulator. In an experiment with a real bus, lane keeping maneuver is conducted and compared with experienced human driver in the same driving course. Lane change maneuver is also tested with real bus to perform smooth lane transition while satisfying the lateral acceleration and yaw rate limitations. |
| first_indexed | 2024-03-12T22:27:33Z |
| format | Article |
| id | doaj.art-598412f4e63a4cff9c32931cde5fc14f |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T22:27:33Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-598412f4e63a4cff9c32931cde5fc14f2023-07-21T23:00:43ZengIEEEIEEE Access2169-35362023-01-0111719817199310.1109/ACCESS.2023.329496510181314Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous BusHun Hwangbo0https://orcid.org/0000-0003-0934-729XJaeun Ryu1Sangwon Han2https://orcid.org/0000-0002-3447-2482Kunsoo Huh3https://orcid.org/0000-0002-7179-7841Department of Future Mobility, Hanyang University, Seoul, Republic of KoreaDepartment of Automotive Engineering (Automotive-Computer Convergence), Hanyang University, Seoul, Republic of KoreaDepartment of Automotive Engineering (Automotive-Computer Convergence), Hanyang University, Seoul, Republic of KoreaDepartment of Automotive Engineering, Hanyang University, Seoul, Republic of KoreaA robust and high-performance lateral control system is necessary for autonomous bus driving in complex downtown roads. In this paper, a Sliding Mode (SM) controller with an uncertainty observer is proposed to reduce the chattering phenomenon while ensuring robustness and maintaining the control performance. A stiffness gain is introduced in the cornering stiffness of rear wheels to compensate for the model uncertainty and external disturbance. For lane keeping and changing maneuvers, an optimal path planning algorithm is designed by considering dynamic constraints of the bus. The lane departure of bus is prevented with minimizing the lateral jerk through the sampling-based path regeneration process. The proposed lateral control system is compared to other conventional SM based controllers in the TRUCKSIM simulator. In an experiment with a real bus, lane keeping maneuver is conducted and compared with experienced human driver in the same driving course. Lane change maneuver is also tested with real bus to perform smooth lane transition while satisfying the lateral acceleration and yaw rate limitations.https://ieeexplore.ieee.org/document/10181314/Autonomous buslateral control systemsliding mode controlpath planningmodel uncertaintystiffness gain |
| spellingShingle | Hun Hwangbo Jaeun Ryu Sangwon Han Kunsoo Huh Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus IEEE Access Autonomous bus lateral control system sliding mode control path planning model uncertainty stiffness gain |
| title | Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus |
| title_full | Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus |
| title_fullStr | Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus |
| title_full_unstemmed | Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus |
| title_short | Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus |
| title_sort | robust sliding mode control with optimal path following for lateral motion of autonomous bus |
| topic | Autonomous bus lateral control system sliding mode control path planning model uncertainty stiffness gain |
| url | https://ieeexplore.ieee.org/document/10181314/ |
| work_keys_str_mv | AT hunhwangbo robustslidingmodecontrolwithoptimalpathfollowingforlateralmotionofautonomousbus AT jaeunryu robustslidingmodecontrolwithoptimalpathfollowingforlateralmotionofautonomousbus AT sangwonhan robustslidingmodecontrolwithoptimalpathfollowingforlateralmotionofautonomousbus AT kunsoohuh robustslidingmodecontrolwithoptimalpathfollowingforlateralmotionofautonomousbus |