A lateral trajectory tracking control method for intelligent commercial vehicles considering active anti‐roll decision based on Stackelberg equilibrium

Abstract

Existing research on path following strategies generally does not consider the interference effect of active anti-roll (AAR) action. This seriously affects the driving safety under extreme obstacle avoidance and other conditions. Therefore, based on the non-cooperative Stackelberg equilibrium theory, this research proposes a lateral trajectory tracking strategy that considers AAR decision. First, a yaw-roll coupled dynamic model of commercial vehicle with front wheel angle and AAR moment as input is established to describe the coupling effect of vehicle lateral and roll motions. Then, based on the Stackelberg equilibrium theory, active front steering (AFS) system and AAR bar system are modelled as the leader and follower in the leader–follower collaborative control strategy, respectively. Finally, simulation and experiments show that the leader–follower collaborative control strategy can effectively improve the control conflict between the two systems and improve the anti-roll performance during trajectory tracking.