Coordination control method of autonomous ground electric vehicle for simultaneous trajectory tracking and yaw stability control

Abstract

A hierarchical trajectory tracking and yaw stability combined control strategy of autonomous ground vehicle within-wheel motor is proposed in this paper to achieve simultaneous and accurate trajectory tracking and vehicle yaw stability control. A trajectory-tracking controller is designed on the basis of model predictive control algorithm, and the ideal front-wheel steering angle requirement is calculated to follow the referenced trajectory. In order to improve the accuracy of vehicle steering control, a vehicle steering controller is designed based on high-order sliding mode control method, in which the control demand of front-wheel steering angle is satisfied by real-time torque control of vehicle steering motor. Simultaneously, a double power reaching rate-based sliding mode control method is applied to design the vehicle yaw stability controller, in which the yaw moment control requirement is met by an optimal oriented tire force allocation algorithm. The simulation and experiment results show that the presented control method can improve the accuracy and real-time performance of trajectory tracking control while ensuring vehicle yaw stability.