Lane-Changing Strategy Based on a Novel Sliding Mode Control Approach for Connected Automated Vehicles
Abstract
:1. Introduction
2. Related Work
3. Vehicle Dynamics Model
4. Control System and Problem Statement
4.1. Path Planning
4.2. SMC-Based Controller Design
4.3. Enhanced SMC-Based Controller Design
5. Experiments and Discussion
5.1. Experimental Parameter Configuration
5.2. Scenario Study
5.3. Verification and Results Discussion
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameter | Numerical Value |
---|---|
Vehicle sprung mass | 1723 kg |
Internal engine power | 125 N·m |
Peak engine torque | 267.3 kW |
Vehicle length | 2578 mm |
Vehicle width | 1739 mm |
Vehicle heigth | 1478 mm |
Distance between mass center and front axle | 1232 mm |
Roll inertia | 1243.1 kg·m2 |
Pitch inertia | 4331.6 kg·m2 |
Yaw inertia | 4175 kg·m2 |
Frontal area | 1.6 m2 |
Road friction coefficient | 0.65 |
Method Name | = 10 (m/s) | ||
---|---|---|---|
Scenario A | Maximum lateral acceleration (m/s2) | SMC | 3.065 |
TSMC | 1.925 | ||
Proposed | 1.269 | ||
Maximum lateral error (m) | SMC | 0.281 | |
TSMC | 0.252 | ||
Proposed | 0.118 | ||
Scenario B | Maximum lateral acceleration (m/s2) | SMC | 3.065 |
TSMC | 1.965 | ||
Proposed | 1.272 | ||
Maximum lateral error (m) | SMC | 0.377 | |
TSMC | 0.331 | ||
Proposed | 0.137 |
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Wang, C.; Du, Y. Lane-Changing Strategy Based on a Novel Sliding Mode Control Approach for Connected Automated Vehicles. Appl. Sci. 2022, 12, 11000. https://doi.org/10.3390/app122111000
Wang C, Du Y. Lane-Changing Strategy Based on a Novel Sliding Mode Control Approach for Connected Automated Vehicles. Applied Sciences. 2022; 12(21):11000. https://doi.org/10.3390/app122111000
Chicago/Turabian StyleWang, Chengmei, and Yuchuan Du. 2022. "Lane-Changing Strategy Based on a Novel Sliding Mode Control Approach for Connected Automated Vehicles" Applied Sciences 12, no. 21: 11000. https://doi.org/10.3390/app122111000