基于非线性滑模的车道线双回路保持方法  

Double Loop Lane Keeping Control for Automated Vehicles Based on Nonlinear Sliding Mode Method

作　　者：赵俊波[1] 雷军委[2] ZHAO Jun-bo;LEI Jun-wei(Rail Transit College,Zhejiang Institute of Communications,Hangzhou 311112,China;Department of Control Engineering,Naval Aviation University,Yantai 264001,China)

机构地区：[1]浙江交通职业技术学院轨道交通学院,浙江杭州311112 [2]海军航空工程学院控制工程系,山东烟台264001

出　　处：《控制工程》2020年第6期971-976,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(61174031)。

摘　　要：针对车辆自主驾驶中的车道线保持问题,基于车辆横向动力学简化线性模型,提出了采用姿态回路与位置回路分开设计的方案,并采用车辆姿态回路驱动位置回路,以消除车道线保持的位置误差。并且在两个回路的设计中,采用了一类新颖的Sigmoid与非线性函数复合的非线性滑模控制方法,使得车道线误差的收敛速度能够大大提高。最后,通过构造Lyapunov函数,证明了全系统所有闭环信号的稳定性。并进行了详细的数字仿真分析,通过和已有方法的对比,表明了本文所提方法的正确性与有效性。The lane keeping problem of automatic driving for vehicles is studied based on the simplified linear lateral dynamic model. A kind of design of attitude loop separated with position loop strategy is proposed. And the position loop is driven by the attitude loop to eliminate the position error. And a novel kind of sliding mode surface hybrid with Sigmoid function and nonlinear function was firstly proposed in the design process of two loops to improve the convergence speed of lane line error greatly. At last, a Lyapunov function was chosen to guarantee the stability of all signals of the close system. And detailed numerical simulation was done and compared with other methods in past references to show the rightness and effectiveness of the proposed method.

关 键 词：车道保持 交通工程 滑模控制 非线性 稳定性 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]