Intelligent vehicle trajectory tracking control method based on sliding mode neural network

• Main Authors: HE ZHAO, YANG XINQIN, WANG TAO, LI FANG, HUANG SHUAI, ZHENG TAIXIONG, TIAN YUNLANG
• Format: Patent
• Language: Chinese; English
• Published: 29.06.2018
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides an intelligent vehicle trajectory tracking control method based on a sliding mode neural network, which is used in the technical field of intelligent vehicle trajectory trackingcontrol, to solve the problems of low stability and control accuracy in the trajectory tracking process. The intelligent vehicle trajectory tracking control method comprises the following steps: designing a trajectory tracking controller based on a sliding mode, realizing lateral tracking control through controlling a front wheel corner and then compensating the front wheel corner through a RBF neural network to improve the trajectory tracking control accuracy and reducing the chattering phenomenon of the sliding mode. Compared with the prior art, the intelligent vehicle trajectory tracking control method provided by the invention has the benefits that the trajectory tracking control accuracy can be greatly improved while trajectory tracking is realized, the chattering phenomenon of the sliding mode controller is