Non-linear Control based on State Estimation for the Convoy of Autonomous Vehicles

M Mahmoud (1) , Mohamed Ahmed (1) , Nacer Kouider M'Sirdi (1) , Aziz Naamane (1)

1 LIS - Laboratoire d'Informatique et Systèmes

In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature. The modeling of the vehicles convoy is revisited using robotic method, for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles.

Keywords: Autonomous Vehicles; Convoy; Non-linear Control; Non-linear Observer; Sliding Mode

Domains: Engineering Sciences [physics]; Automatic

M Mahmoud, Mohamed Ahmed, Nacer Kouider M'Sirdi, Aziz Naamane. Non-linear Control based on State Estimation for the Convoy of Autonomous Vehicles. ICCARV 2020: 14ème International Conference on Control Automation Robotics and Vision, Feb 2020, Barcelone, Spain. ⟨hal-02473366⟩