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<p>To enhance the reliability of an autonomous vehicle’s lane-change system (LCS), vehicle lateral control logic should be developed to cover more challenging driving scenarios. However, irregularities in road construction, such as lane width, lead to inaccurate path planning, affecting LCS performance. Furthermore, unsatisfactory lateral control performance, such as the inaccuracy of the steering angle control, also leads to dangerous situations during LCS. This paper presents an automatic LCS with a vehicle lateral control scheme combined with super-twisting sliding mode&#xa0;(STSM) based rack-mounted electric power steering&#xa0;(R-EPS) control. Road coefficients for lane information obtained from the camera sensor are used to obtain condition criteria for vehicle dynamics models for lane keeping and change control. A composite path planning of the LCS allows a complete lane change control from any position at the origin lane to the center of the target lane, and the proposed STSM R-EPS control enhances the robustness of the steering angle control performances. The proposed method’s effectiveness is proven through a hardware-in-the-loop system and actual vehicle experimental verification on a proving ground.</p>

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Enhanced Automatic Lane-Change System: Vehicle Lateral Control Scheme Combined with Super-Twisting Sliding Mode Based R-EPS Control

  • 期刊论文

  • 发表日期：

    2026年4月16日

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  • Yong Woo Jeong,
  • Woo Young Choi,
  • Chung Choo Chung

摘要

To enhance the reliability of an autonomous vehicle’s lane-change system (LCS), vehicle lateral control logic should be developed to cover more challenging driving scenarios. However, irregularities in road construction, such as lane width, lead to inaccurate path planning, affecting LCS performance. Furthermore, unsatisfactory lateral control performance, such as the inaccuracy of the steering angle control, also leads to dangerous situations during LCS. This paper presents an automatic LCS with a vehicle lateral control scheme combined with super-twisting sliding mode (STSM) based rack-mounted electric power steering (R-EPS) control. Road coefficients for lane information obtained from the camera sensor are used to obtain condition criteria for vehicle dynamics models for lane keeping and change control. A composite path planning of the LCS allows a complete lane change control from any position at the origin lane to the center of the target lane, and the proposed STSM R-EPS control enhances the robustness of the steering angle control performances. The proposed method’s effectiveness is proven through a hardware-in-the-loop system and actual vehicle experimental verification on a proving ground.