Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads

Abstract

This paper presents a comparative study on coordinated control of path tracking and vehicle stability for autonomous vehicles on low-friction roads. Generally, a path-tracking controller designed on high-friction roads cannot provide good performance under low-friction conditions. To cope with the problem, a coordinated control between path tracking and vehicle stability has been proposed to date. In this paper, three types of coordinated controllers are classified according to the controller structure. As an actuator, front-wheel steering, four-wheel steering, and four-wheel independent braking and driving are adopted. A common feature of these types of controllers is that front steering and yaw moment control are adopted as control inputs. To convert the yaw moment control into tire forces generated by combinations of multiple actuators, a control allocation method is applied. For each type, a controller is designed and simulated using vehicle simulation software. From the simulation results, a performance comparison among those controller types is carried out. Through comparison, it is shown that there are small differences among those types of controllers in terms of path tracking.