Title: Advanced headway control via adaptive seeking sliding mode for autonomous off-road vehicles

Authors: Hai Yu, Umit Ozguner

Addresses: Department of Electrical and Computer Engineering, The Ohio State University, 205 Dreese Labs, 2015 Neil Ave. Columbus, OH 43210, USA. ' Department of Electrical and Computer Engineering, The Ohio State University, 205 Dreese Labs, 2015 Neil Ave. Columbus, OH 43210, USA

Abstract: The automated vehicle controller is one of the key technologies enabling the autonomous vehicle system. In off-road operation, the automated vehicle controller faces more challenges from disturbances and non-linearities. To achieve control robustness and adaptability to the off-road operation condition, an Adaptive Seeking Sliding Mode (ASSM) control algorithm is proposed in this paper. A hybrid headway control scheme is developed by taking advantage of the ASSM control methodology. The overall system designed achieves better performances in smooth operation, disturbance rejection and fuel efficiency. Proofs of the stability and performance are presented in this paper with illustrative simulation results.

Keywords: autonomous vehicles; off-road vehicles; adaptive cruise control; ACC; adaptive seeking sliding mode control; ASSM; headway control; vehicle control; vehicle stability; vehicle performance.

DOI: 10.1504/IJVAS.2007.014932

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.1/2, pp.119 - 137

Available online: 20 Aug 2007 *

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