This article involves the design of a novel path tracking control technique for the self-driving car. Fixed settling time sliding mode control (FSTSMC) with barrier Lyapunov function is implemented to deal with the non-linear lateral dynamics and to ensure stable standard double-lane-change (DLC) maneuver of self-driving cars in the presence of unknown lateral tire forces and parametric uncertainties. A two-time scale-based approach is employed to deal with the slow and fast dynamics of the car separately. The proposed control scheme efficacy is investigated using simulations based on CarSim and Simulink. The simulation results validate the path-tracking ability of the proposed controller for self-driving cars while accomplishing the stable double-lane-change maneuver at various forward speeds.

中文翻译：

---

铜芯圆芯电缆超导导体的磁损耗特性


本文涉及自动驾驶汽车的新型路径跟踪控制技术的设计。采用具有障碍李亚普诺夫函数的固定稳定时间滑模控制（FSTSMC）来处理非线性横向动力学，并确保自动驾驶汽车在存在未知横向轮胎的情况下稳定的标准双车道变换（DLC）操纵力和参数不确定性。采用基于两次尺度的方法来分别处理汽车的慢速和快速动态。使用基于 CarSim 和 Simulink 的仿真研究了所提出的控制方案的功效。仿真结果验证了所提出的自动驾驶汽车控制器的路径跟踪能力，同时在不同的前进速度下完成稳定的双车道变换操作。