Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision
Joint Authors
Wang, Mengmeng
Li, Ming
Linhui, Li
Lian, Jing
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-19
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
The lateral control of intelligent vehicle is studied in this paper, with the intelligent vehicle DLUIV-1 based on visual navigation as the object of research.
Firstly, the lateral control model based on visual preview is established.
The kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error.
Secondly, according to the characteristics of lateral control, an efficient strategy of intelligent vehicle lateral mode is proposed.
The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface.
The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition.
The sliding mode switching function is regarded as the control objective, to ensure the stability of the steering wheel rotation.
Simulation results show that the lateral controller can guarantee high path-tracking accuracy and strong robustness for the change of model parameters.
American Psychological Association (APA)
Linhui, Li& Lian, Jing& Wang, Mengmeng& Li, Ming. 2013. Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-455346
Modern Language Association (MLA)
Linhui, Li…[et al.]. Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision. Advances in Mechanical Engineering No. 2013 (2013), pp.1-7.
https://search.emarefa.net/detail/BIM-455346
American Medical Association (AMA)
Linhui, Li& Lian, Jing& Wang, Mengmeng& Li, Ming. Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-455346
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-455346