Lateral Stability Control of Autonomous Vehicle Based on Backstepping Sliding Mode Method

doi:10.3901/JME.2024.10.497

Abstract

Abstract: A layered control strategy based on backstepping sliding mode method is proposed for the lateral stability of autonomous vehicles under complex conditions. Firstly, a seven-degree-of-freedom model is established to accurately describe the vehicle motion, and the Dugoff tire model is used to describe the dynamic characteristics between the tire and the road surface. Then, a backstepping sliding mode control algorithm is proposed in the motion control layer. The longitudinal velocity, lateral velocity and yaw rate are controlled separately to obtain their control law under Lyapunov stability conditions. In the torque distribution layer, the longitudinal force and lateral force of the tire are redistributed based on the tire load rate. In the execution layer, the front wheel angle and wheel torque are calculated based on the Dugoff tire inverse model and the wheel model. Finally, the Matlab/Simulink-Carsim joint simulation platform is constructed, and the proposed hierarchical control strategy of lateral stability is verified under sine dwell condition and continuous sine condition. The simulation results show that the yaw rate and sideslip angle of the autonomous vehicle can be effectively controlled by the control strategy proposed. Moreover, compared with the pure sliding mode controller, the MAE and RMSE values of yaw rate and sideslip angle under the backstepping sliding mode control strategy are smaller, and the lateral stability of the autonomous vehicle is further improved.

Key words: autonomous vehicles, lateral stability, backstepping sliding mode control, torque distribution

CLC Number:

TG156

LIN Fen, HAO Mingbiao, WANG Tiancheng, WANG Xiaoxia. Lateral Stability Control of Autonomous Vehicle Based on Backstepping Sliding Mode Method[J]. Journal of Mechanical Engineering, 2024, 60(10): 497-506.

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