earticle

영어

The lane keeping problem of automatic driving for vehicles was studied based on the simplified linear lateral dynamic model. Three kinds of sliding mode methods were proposed by adopting integral sliding mode, anti-saturation and adaptive method. The stability of each method was proved by constructing Lyapunov method. What is worthy pointing out is that the anti-saturation method can not only reduce the oscillations by using soft function and sigmoid function, but also it can solve the saturation problem of front wheels by using the bounded characteristics of above two functions. And this method is also very simple and it has a reasonable physical meaning which makes the chosen of control parameter very easy. At last, detailed numerical simulations were done for proposed three methods and simulation results were compared with other three methods in the past references to testify the rightness of the proposed method.