Automated guided of articulated heavy vehicle in traffic situation by sliding-mode controller

The main purpose of this study is to present an algorithm of lateral guidance for the articulated vehicles. The possible lanes are extracted based on the kinematics of AV in terms of non - collision with the other vehicle. In order to determine the desired trajectory, the dynamic of the AV and specifically its tire must be considered. First, a sixteen-degrees-of-freedom nonlinear dynamic model of an articulated vehicle is developed. Then, the vehicle model is validated using TruckSim software during a standard maneuver. Also, in order to design the control system a three-degrees-of-freedom dynamic model of an articulated vehicle is used. The degrees- of-freedom are yaw rate and lateral velocity of the tractor unit and articulation angle. Tire dynamic is simulated based on nonlinear model of Duggof. Finally, lateral guidance of the AV is applied by sliding mode control method. The results show the effectiveness of the nonlinear sliding mode control method for lateral guidance of the AV.