关键词: 车道保持；路径跟随；滑模控制；转角补偿

Abstract: Aiming at the situation that the intelligent vehicle cannot effectively track the target trajectory due to insufficient steering or excessive steering during the lane keeping process, this paper designs the vehicle lateral preview driver model based on the sliding mode variable structure control, and introduces the front wheel angle compensation control to establish the lane keeping model. The model can correct and optimize the corner in time to ensure that the vehicle maintains stability during the turning process. The simulation results show that the proposed lane keeping control method can realize the lane keeping function under the condition of high speed, and can correct and compensate the front wheel angle in real time under the condition of continuous curve. At high speed, the preview lateral deviation and heading deviation are reduced by 38.4 % and 37.6 % respectively, which has good path tracking performance.

Key words: Lane keeping; Path following; Sliding mode control; Angle compensation