Affiliation:
1. Tongji University, School of Automotive Studies, China
2. Tongji University, China
Abstract
<div>Vehicle path tracking and stability management are critical technologies for
intelligent driving. However, their controls are mutually constrained. This
article proposes a cooperative control strategy for intelligent vehicle path
tracking and stability, based on the stable domain. First, using the vehicle’s
two-degrees-of-freedom (DOF) model and the Dugoff tire model, a phase plane
representation is constructed for the vehicle’s sideslip angle and sideslip
angular velocity. An enhanced method utilizing five eigenvalues is employed to
partition the vehicle stability domain. Second, by employing the divided vehicle
stable domain, the design of a fuzzy controller utilizes the Takagi–Sugeno (TS)
methodology to determine the weight matrix gain for path tracking and stability
control. Subsequently, a fuzzy model predictive control (TS-MPC) cooperative
control strategy is designed, which takes into account both the precision of
path tracking and the stability of the vehicle. Finally, a simulation test and
comparative analysis with a generic MPC controller were conducted. The findings
indicate that compared to the generic MPC cooperative controller, the control
strategy designed in this article markedly enhances the stability of the vehicle
and boosts the accuracy of path tracking.</div>
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