Robust Coordination Control of AFS and ARS for Autonomous vehicle Path Tracking and Stability

Abstract

In this paper, considering uncertain external disturbance due to the frequent variation of running conditions, a novel robust coordination control strategy of active front steering (AFS) system and active rear steering (ARS) system is proposed to simultaneously suppress lateral path tracking deviation while maintaining autonomous vehicle stability under dynamic driving situations at handling limits. Firstly, reference path model, vehicle dynamics and kinematics model with uncertain external disturbance are established. Then, a robust H ∞ coordination control scheme is developed based on linear matrix inequality (LMI) by coordinating AFS and ARS. Finally, an emergency double lane change maneuver is carried out via Matlab/Simulink-CarSim co-simulation. The results show that, under uncertain external disturbance, the proposed robust coordination control strategy can provide sufficient path tracking capability as well as stability for autonomous vehicle at or near the physical limits of tyre friction.