Direct adaptive control for lane keeping in intelligent vehicle systems

In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehi-cle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-abead references systems. The stability of the system is investigated from the zero dy-namics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle er-rur and slip angle are fast.