Journal Article

Homogeneous domination-based lane-keeping control method for intelligent vehicle

Shen, Zhiyong, Meng, Qinghua, Sun, Zongyao, He, Haibin

2023

Overview

Lane-keeping is a basic function of an intelligent vehicle. But the existing lane-keeping methods may not provide the expected effect. A vehicle often deviates from the desired lane despite the working lane-keeping controller in practice. For addressing this issue, we propose a novel lane-keeping control method based on the homogeneous domination control theory to improve the lane-keeping system performance in this paper. Firstly, a two-degree-of-freedom lane-keeping dynamic model is built. Then, the state equations of the lane-keeping control system are obtained based on the dynamic model. A lane-keeping state feedback controller is designed via the homogeneous domination method. We prove that the designed controller can globally asymptotically stabilize the system via the Lyapunov method. The proposed homogeneous domination method does not require the nonlinear terms of the nonlinear system to meet the strict linear growth condition. Numerical simulation and hardware-in-the-loop test results show that the proposed homogeneous controller has strong robustness, fast response, and low energy output which are more suitable for the lane-keeping system and improves the lane-keeping system performance.

• Publisher: Springer Netherlands,Springer Nature B.V
• Subject: Automotive Engineering / Classical Mechanics / Control / Control methods / Control systems design / Control theory / Controllers / Dynamic models / Dynamical Systems / Engineering / Equations of state / Feedback control / Hardware-in-the-loop simulation / Intelligent vehicles / Lane keeping / Mechanical Engineering / Nonlinear systems / Original Paper / Robust control / State feedback / Vibration