Robust Trajectory Tracking Control of Autonomous Vehicles Based on Conditional Integration Method

Design of a robust trajectory tracking controller for autonomous vehicles based on conditional integration method is proposed to make the vehicle track a given reference trajectory. The controller consists of two sub controllers: kinematic controller and dynamic controller. Based on conditional integration method, according to the kinematics of reference trajectory, a desired yaw rate is calculated by kinematic controller to make the lateral displacement of the autonomous vehicle global asymptotic stability. And the kinematic controller considers the error of the centre of mass and limit of vehicle yaw rate. Then, to meet the demand of the desired yaw rate, vehicle dynamic controller is designed. Based on conditional integration method, desired steering angle is calculated by a vehicle dynamic controller from vehicle dynamics to make the yaw rate error asymptotic stability. the dynamic controller considers the uncertainty of vehicle parameters and limit of actuators. Meanwhile, the steady vehicle heading angle and slip angle is given. Finally, the simulation results show that the trajectory can be tracked with relative large initial displacement error, heading angle error and lateral acceleration, and the effectiveness of the control method is also verified by real vehicle test.