Coordinated control of steering and driving in off-road intelligent vehicle
越野智能车转向及驱动协调控制

Off-road path recognition and trajectory-following control are studied in the paper to realize the intelligent vehicle autonomous navigation in unstructured off-road environment. Firstly, the segmentation and extraction of traversable path are achieved by vision sensor and laser sensor, and the coupled control system model for vehicle steering and driving is established. To deal with the unmatched uncertainties of the control system model, a steering and driving coordinated controller for steering and driving is proposed via backstepping variable structure control method, and boundary layer approach is introduced to suppress the chattering phenomenon caused by variable structure. Finally, Simulations and offroad experiments are given to demonstrate the effectiveness and robustness of the proposed control method.