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Homogeneous domination-based lane-keeping control method for intelligent vehicle

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Abstract

Lane-keeping is a basic function of an intelligent vehicle. But the existing lane-keeping methods may not provide the expected effect. A vehicle often deviates from the desired lane despite the working lane-keeping controller in practice. For addressing this issue, we propose a novel lane-keeping control method based on the homogeneous domination control theory to improve the lane-keeping system performance in this paper. Firstly, a two-degree-of-freedom lane-keeping dynamic model is built. Then, the state equations of the lane-keeping control system are obtained based on the dynamic model. A lane-keeping state feedback controller is designed via the homogeneous domination method. We prove that the designed controller can globally asymptotically stabilize the system via the Lyapunov method. The proposed homogeneous domination method does not require the nonlinear terms of the nonlinear system to meet the strict linear growth condition. Numerical simulation and hardware-in-the-loop test results show that the proposed homogeneous controller has strong robustness, fast response, and low energy output which are more suitable for the lane-keeping system and improves the lane-keeping system performance.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

This research was supported by Zhejiang Provincial Natural Science Foundation of China under Grant Nos. LZ21E050002 and Q22E065759.

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Authors and Affiliations

  1. School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, China

    Qinghua Meng, Zhiyong Shen & Haibin He

  2. Institute of Automation, Qufu Normal University, Qufu, China

    Zongyao Sun

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  1. Qinghua Meng
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  2. Zongyao Sun
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Correspondence to Qinghua Meng.

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Meng, Q., Sun, Z., Shen, Z. et al. Homogeneous domination-based lane-keeping control method for intelligent vehicle. Nonlinear Dyn 111, 6349–6362 (2023). https://doi.org/10.1007/s11071-022-08159-y

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