Driver-behavior-based robust steering control of unmanned driving robotic vehicle with modeling uncertainties and external disturbance

摘要

In this paper, a steering robust control method based on professional driver behavior with modeling uncertainties and external disturbance is proposed for an unmanned driving robotic vehicle, to realize the accurate and stable steering control like a professional human driver. An unmanned driving robotic vehicle nonlinear dynamics model considering modeling uncertainties and external disturbance is established. A driver behavior model composed of an adaptive preview model, a driver path planning model, and a driver desired yaw rate model is established, with the influences on preview time and driver path planning strategy, respectively. On the basis of this, a robust steering controller based on professional driver behavior is presented, by taking road information, driver reaction delay time, and vehicle driving status as inputs and the servo motor rotation angle of the steering mechanical arm as output. The stability of the control system with modeling uncertainties and external disturbance is proved. A comparison of the analysis results of simulation and experiment among the proposed control method, other existing control methods, and professional human driver demonstrates the effectiveness of the proposed method.