Robust Sliding Mode Control With Optimal Path Following For Lateral Motion of Autonomous Bus

A robust and high-performance lateral control system is necessary for autonomous bus driving in complex downtown roads. In this paper, a Sliding Mode (SM) controller with an uncertainty observer proposed to reduce the chattering phenomenon while ensuring robustness maintaining performance. stiffness gain introduced cornering of rear wheels compensate model external disturbance. For lane keeping changing maneuvers, optimal path planning algorithm designed by considering dynamic constraints bus. The departure prevented minimizing jerk through sampling-based regeneration process. compared other conventional SM based controllers TRUCKSIM simulator. experiment real bus, maneuver conducted experienced human driver same course. Lane change also tested perform smooth transition satisfying acceleration yaw rate limitations.