Adaptive Robust Autonomous Vehicle Driving Strategy in Transportation Systems: Gated Leakage Mechanism Designs

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Abstract
In order to achieve the stability and safety of the autonomous vehicle while reducing the control cost, a driving strategy for uncertain autonomous vehicle is presented. There are many uncertainties in the autonomous vehicle driving, and the boundary of the uncertainty maybe unknown. To solve this problem, a gated leakage type adaptive robust control based on the tracking deviation is developed. The salient feature of the control lies in the novel leakage mechanism designs. The leakage mechanism is designed to provide gated value for the leakage to prevent excessive control effort. The control system ensures the performance of the autonomous vehicle in terms of lateral and yaw displacement, which in turn prevents the vehicle from sideslip even in uncertainty. Compared with the constant leakage type adaptive robust control and Linear Quadratic Regulator (LQR) control, the effectiveness and superiority of the proposed control method are verified
Funding Information
  • Shandong Provincial Postdoc toral Science Foundation (SDCX-ZX-202202029)
  • National Natural Science Foundation of China (52305118, 52005302)
  • Natural Science Foundation of Shandong Province (ZR2023QE003)

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