State estimation for integrated longitudinal and lateral car following control

Abstract

This paper discusses an integrated vehicle control and vehicles states estimations. The non linear observer, based on sliding mode approach is presented for estimation of the vehicle states. The considered technique is applied to the estimation problem for automated vehicles operating as two vehicles following. The integrated control consists of second order sliding mode, based on twisting algorithm. The developed controller is tested in scenario of automated driving. Both performance of observer and controller are presented to demonstrate the effectiveness of the sliding mode observer and sliding mode controller in various maneuvers.