Autonomous path tracking control of intelligent electric vehicles based on lane detection and optimal preview method

作者：

Highlights：

• A novel autonomous tracking control of intelligent electric vehicles.

• Modified Hough transform algorithm used to detect the lane marking.

• Tracking error model from detected markings and preview steering geometry model.

• The optimal preview sliding mode control to improve the tracking performance.

摘要

•A novel autonomous tracking control of intelligent electric vehicles.•Modified Hough transform algorithm used to detect the lane marking.•Tracking error model from detected markings and preview steering geometry model.•The optimal preview sliding mode control to improve the tracking performance.

论文关键词：Intelligent electric vehicles,Land marking detection,Optimal preview control,Linear quadratic regulator (LQR)

论文评审过程：Received 3 September 2018, Revised 10 November 2018, Accepted 2 December 2018, Available online 3 December 2018, Version of Record 14 December 2018.

论文官网地址：https://doi.org/10.1016/j.eswa.2018.12.005