Speed-planning algorithm and super twisting control for autonomous vehicle steering system

Autonomous vehicle field has seen much development in recent years, especially with the appearance of new efficient control techniques focusing on longitudinal and lateral direction order to follow a specified trajectory or path. This paper proposes systematic technique simultaneously generate suitable speed profile motion through predetermined path that considers different driving scenarios representing real-world driving. First, an extended-kinematic model for autonomous is designed based side-slip angle estimation. Then, proposed uses relationship between error, heading velocity steering super twisting mode control. Second, speed-planning algorithm developed velocity. The strategy sharp curve identification; then it generates adequate depending dynamic characteristics these curves ensure smooth whole trajectory. obtained results from using controller prove high performance this terms decreasing errors respecting passenger comfort.