Robust sliding mode control algorithm for path tracking of autonomous vehicles in challenging terrains  

Achieving robust path tracking is essential for efficiently operating autonomous driving systems, particularly in unpredictable environments. This tool developed a novel path-tracking control methodology utilizing a variable second-order Sliding Mode Control (SMC) approach capable of addressing the challenges posed by uncertainties and disturbances. A state prediction is integrated into the developed SMC to mitigate response time delays. Furthermore, the controller integrates adaptive mechanisms to adjust time-varying control parameters based on longitudinal velocity, thereby enhancing path-tracking performance and reducing chattering phenomena. Experimental results demonstrate the capability of the developed controller when dealing with challenging driving scenarios characterized by high-curvature paths, varying altitudes, and sensor disturbances, typical in rural driving environments.

Link to the tool: https://github.com/ACCESSLab/smc-lateral-controller 

Related Publication: J. Matute, S. Diaz and A. Karimoddini, "Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments," in IEEE Open Journal of Vehicular Technology, vol. 5, pp. 1314-1325, 2024, doi: 10.1109/OJVT.2024.3456035. https://ieeexplore.ieee.org/abstract/document/10669799