Research on Trajectory Tracking Lateral Control of Intelligent Vehicle Based on Nested Sliding Mode

The trajectory tracking lateral controller designed based on the traditional vehicle model make the performance degradation when the vehicle travels on the road with low adhesion coefficient or high speed. Therefore, a trajectory tracking lateral controller based on nested sliding mode is designed, which a PI control method is adopted for the outer layer to generate a yaw angular velocity reference signal, and the inner layer makes use of the strong robustness of the sliding control method. Finally, this paper carried out the joint simulation with Matlab/Simulink and Carsim,and the real vehicle tests to verify that the proposed trajectory tracking lateral control method can still make the vehicle track the target path stably under the extreme conditions, such as low adhesion coefficient and high vehicle speed.