Sliding Mode Control for Lateral Dynamics of Bicycle

This is the authors' abstract. We don't add key points for this paper.

Cyclists, vulnerable road users, face an increased risk of accidents due to a variety of factors, such as lane departure. This paper introduces the design of an active steering control system in order to prevent lane departures. Both a PID control system and sliding mode control are studied to control lateral displacement. The findings obtained show that the sliding mode control, with super-twisting, is well operated and performed. Proactive safety measures such as a lateral control system could significantly decrease the number of lane departure accidents, thereby improving overall road safety.