Design and Implementation of Fast Terminal Sliding Mode Control for Vehicle Lane Keeping by Using Virtual Prototyping Simulations

This paper presents a new method to improve the lane tracking performance and to create automatic lane keeping system for Active Front Steering (AFS) vehicles. To achieve full tracking and stabilize the lateral position of the vehicle, a new approach based on the Fast Terminal Sliding Mode Control (FTSMC) is proposed which is responsible for reducing the rate of convergence and getting finite-time tracking control. Moreover, it is shown that the proposed controller is robust against vehicle mass uncertainties and external disturbances. In this research, to design a lane keeping controller, a lateral dynamic model of vehicle is firstly extracted based on three-dimensional motion equations. To verify the effectiveness of our method, an especial configuration for virtual prototyping is utilized. The results taken from co-simulation of ADAMS CAR and MATLAB show the efficiency of the control method to track the desired patch and to guarantee the yaw stability under uncertain conditions.