Lateral and longitudinal dynamic coupling control for vehicles lane changing

There are strong dynamic coupling effects exist between vehicles lateral and longitudinal motion, especially in lane changing process. It is difficult to get ideal control effect by lateral and longitudinal control separately. Thus, to realize a smooth and safety lane changing process the nonlinear lateral and longitudinal coupling vehicle model was established. According to sliding mode control and disturbance observer theory the integrated longitudinal and lateral control for lane change was studied and a composite control strategy was proposed based on sliding mode control and disturbance observer. This strategy used disturbance observer to estimate outside disturbance or uncertainty that exist in system and the estimate value was to compensated the sliding mode controller´s switching gain for improve controller´s robustness and weaken its output chattering. Prove the stability of this control strategy based on Lyapunov theory. The simulation results of an example are investigated to show the feasibility and the effectiveness of this control strategy.