슬라이딩 모드 제어기를 이용한 자율 주행 차량의 자동 차선 변경 시스템 설계

Abstract

This paper proposes the design method of lane change system with Sliding Mode Control(SMC) in autonomous driving vehicles. Lateral control of the vehicle is the crucial factor of an autonomous driving vehicle. The lane change system, which is one of the lateral control, has been investigated in the past years. Path planning and its tracking control is widely utilized to design the lane change system. However, there exist tracking error and complexity of making trajectory so that obtaining robust and uniform performance of lane change is not easy. In this paper, we exploit SMC to design the lane change system without path planning and tracking control. To avoid undesirable control input in reaching phase, time-varying sliding hyperplane is adopted. The cost function is presented for obtaining the optimal sliding hyperplane. The effectiveness of the proposed system is conducted with MALAB/Simulink and CarSim. The robust and uniform performance is obtained with proposed method.