Coordinated Lateral Stability Control of Autonomous Vehicles Based on State Estimation and Path Tracking

Abstract

This paper proposes a coordinated control system of autonomous vehicles’ lateral stability based on state estimation and path tracking, which contributes to enhancing path-tracking capability and at the same time maintaining the stability of autonomous vehicles driving in complex and dynamic road conditions. First, an extended Kalman filter observer is designed to estimate the vehicle parameters. Then, based on the single-point preview theory, an adaptive preview time model is built for the accuracy of path tracking. When designing the direct yaw-moment controller, sideslip angle and yaw rate, two critical parameters for lateral dynamic stability control are considered, and the single-wheel braking method is utilized to reasonably distribute the additional yaw moment to a certain wheel. To make full use of active front steering and direct yaw-moment control, the critical steering angle of the front wheel is determined, and a switching function is formulated. Co-simulation shows that the suggested coordinated control system can effectively strengthen maneuvering stability and simultaneously satisfy tracking accuracy.