Human driver model and sliding mode control - road tracking capability of the vehicle model

Autonomous vehicle has been one of the highly investigated topics in both academia and industry. A car that can drive without the driver´s intervention changes not only the dynamics of the automobile industry but also everyday life of individuals. This paper demonstrates the road tracking capability of a steering controller that is designed based on a human driver model and a controller using a sliding mode control scheme. In addition, a controller that incorporates preview control into the sliding mode controller is introduced. Using a bicycle model and a linear lateral tire force model, performances of these controllers in a double lane change maneuver are evaluated through simulations. The results illustrate the characteristics and limitations of the controllers and provide a strong foundation for designing an effective road tracking controller for autonomous vehicle.