Human Driver Model And Sliding Mode Control - Road Tracking Capability Of The Vehicle Model

Autonomous vehicle has been one of the highly investigated topics in both academia and industry. A car that can drive without the driver's intervention changes not only the dynamics of the automobile industry but also everyday life of individuals. This paper demonstrates the road tracking capability of a steering controller that is designed based on a human driver model and a controller using a sliding mode control scheme. In addition, a controller that incorporates preview control into the sliding mode controller is introduced. Using a bicycle model and a linear lateral tire force model, performances of these controllers in a double lane change ma-neuver are evaluated through simulations. The results illustrate the characteristics and limitations of the controllers and provide a strong foundation for designing an effective road tracking controller for autonomous vehicle.