Robust Trajectory Following Strategy during Emergency Lanechange Condition

Abstract:

In this paper, a robust static feedback emergency trajectory following strategy based on polytope method was proposed. The vehicle trajectory following model by using the lateral displacement error and the vehicle yaw angle error was studied. To deal with the nonlinear vehicle dynamic response properties during emergency avoidance, the robust control strategy based on polytope method was presented. Simulations based on Matlab and Carsim joint platform demonstrate that the robust trajectory following strategy is effective and efficient.