Abstract: To address the problems of large steady-state error, obvious chattering,and decreased robustness under complex disturbances that may exist in traditional linear sliding mode control for autonomous driving trajectory tracking, the article proposes an integral adaptive sliding mode control strategy based on the whale optimization algorithm (WOA). By establishing a vehicle dynamics model and a comprehensive error system, an integral sliding mode surface is designed, and an adaptive law is introduced to compensate for system uncertainties and external disturbances. The WOA is used to globally optimize the control law parameters. The asymptotic stability of the system is proven using Lyapunov theory. CarSim/Simulink co-simulation results show that compared with the comparison methods, the proposed scheme significantly improves trajectory tracking accuracy, response speed, and robustness. Under external disturbance conditions, the average lateral error is reduced by 20%～30%, verifying its application value in autonomous driving trajectory tracking.

Key words: autonomous driving; trajectory tracking; sliding mode control; whale optimization algorithm; CarSim/Simulink

摘要： 黄玉淡（1998－），男，硕士，研究方向为新能源汽车

关键词: 自主驾驶；路径跟踪；滑模控制；鲸鱼优化算法；CarSim/Simulink