Predictive control with sliding mode for autonomous driving vehicle lateral maneuvering

초록

An innovative paradigm of path planning and control is proposed for autonomous driving vehicles. The scheme applies predictive control with sliding mode to solve the problem of path planning in the vehicle coordinates and control. The path for lateral motion is given by a sliding hyperplane in terms of lateral error and velocity in the vehicle coordinates. Sliding mode control is applied to attain stable reduced order sliding motion on the hyperplane. Predictive control is developed for reaching the hyperplane. Mathematical proof for stability and existence of sliding mode is provided, together with an application to demonstrate utility of the proposed predictive control with sliding mode.