The process of modelling vehicle motion in a road traffic environment requires the integration of trajectory generation with vehicle control. The steps involved here are generating a feasible trajectory based on the existing traffic and tracking the trajectory to control it with a steering angle input. Since the parameters of a physical system vary with changes in operating conditions, it is important to consider robustness when designing controllers. This article aims at developing a trajectory-following model with robust steering control strategies to accurately follow a generated trajectory. In this study, performance-based proportional, robust proportional and sliding mode control strategies are designed for trajectory following. The robustness of the proportional controller is established using Kharitonov’s theorem, which is compared with a proportional controller tuned for performance. Sliding mode control is designed for robustness and chattering elimination using two kinds of reaching laws – a constant reaching law and a novel power rate exponential reaching law. The controllers are designed using a dynamic bicycle model considering the error with respect to the trajectory. The controllers are then evaluated in IPG CarMaker®. The resulting trajectories and control inputs are compared for the considered control methodologies using the ISO double lane change and the Slalom tests. Sliding mode control with power rate exponential reaching law is concluded to be more robust as compared to the other controllers, with lower response times, up to 84% lower heading angle deviations from the trajectory and an overshoot of only 3.2% in lane changing.

在道路交通环境中对车辆运动进行建模的过程需要将轨迹生成与车辆控制相集成。这里涉及的步骤是基于现有交通生成可行的轨迹，并跟踪该轨迹以通过转向角输入对其进行控制。由于物理系统的参数会随着操作条件的变化而变化，因此在设计控制器时必须考虑坚固性。本文旨在开发一种具有可靠转向控制策略的轨迹跟踪模型，以准确地跟踪生成的轨迹。在这项研究中，针对轨迹跟踪设计了基于性能的比例，鲁棒比例和滑模控制策略。比例控制器的鲁棒性是使用Kharitonov定理建立的，将其与针对性能进行调整的比例控制器进行比较。滑模控制旨在使用两种到达定律来实现鲁棒性和颤振消除：恒定到达定律和新颖的电功率指数到达定律。控制器是使用动态自行车模型设计的，其中考虑了相对于轨迹的误差。然后在IPGCarMaker®中评估控制器。使用ISO双车道变更和激流回旋测试，比较了所得到的轨迹和控制输入，以考虑所考虑的控制方法。得出结论，与其他控制器相比，具有电费率指数到达律的滑模控制具有更高的鲁棒性，响应时间更短，航迹角偏离航迹的角度最高降低了84％，并且车道变更时的过冲仅为3.2％。