Self-adaptive second-order sliding mode control intelligent automobile transverse control method

The invention discloses a self-adaptive second-order sliding mode control intelligent automobile transverse control method, which is characterized in that a two-degree-of-freedom dynamic model is taken as a basis, and self-adaptive preview and a second-order sliding mode control method are combined to improve the robustness of a system; the preview time is adaptively adjusted by designing an objective function based on transverse deviation, road boundary and whole vehicle motion response characteristics, so that an ideal yaw velocity is obtained, and then the steering wheel rotation angle is calculated by adopting a Super-Twisting second-order sliding mode control algorithm. Meanwhile, a low-pass filter is combined with sliding mode control, so that the buffeting phenomenon caused by sliding mode surface switching is effectively inhibited, and the smoothness after filtering is 9.35% of that before filtering. A simulation model is built, and the control effectiveness of the controller is verified under the dou