Dual-effect trajectory tracking control strategy for high-speed autonomous vehicles

Abstract

This paper proposes a trajectory tracking method to enhance autonomous vehicle performance in high-speed emergency scenarios, addressing limitations in prior motion control research that focused on narrow operational domains or low-speed conditions. Considering the lateral displacement deviation and the heading angle deviation comprehensively, a dual-effect (combined lateral and heading deviation) control strategy based on the two influencing factors is designed to adjust the lateral motion of the vehicle. The non-singular terminal sliding mode method is used to design the front wheel angle compensator based on the vehicle yaw rate and the center of mass slip angle to ensure the vehicle’s tracking accuracy and robustness under high-speed emergency conditions. The proposed dual-effect control strategy, employing a non-singular terminal sliding mode control (NTSMC) method, demonstrates a reduction in maximum lateral displacement deviation by 25.3% at 90 km/h and 72.8% at 120 km/h, with an improvement in tracking accuracy under high-speed conditions compared to the single-effect control strategy. It also shows a reduction in heading angle oscillation, ensuring the front wheel steering angle remains within operational limits, thereby significantly enhancing the vehicle’s stability and robustness in emergency scenarios.