Coordinated strategy for path tracking and dynamic stability considering extreme obstacle avoidance in distributed drive electric vehicles

Purpose This research aims to investigate the trajectory tracking problem for a four-wheel independent drive autonomous vehicle (4WID) and propose an integrated, coordinated control strategy to address the mutual interference between trajectory tracking and stability control in extreme cases. Design/methodology/approach The authors establish an adaptive preview model that modifies the preview distance based on vehicle speed. They utilize a three-degrees-of-freedom vehicle model and employ model predictive control to calculate the necessary front wheel angle for trajectory tracking. In terms of longitudinal control, a longitudinal coordinated control mechanism is established to achieve the two conflicting objectives of trajectory tracking accuracy and dynamic stability through early deceleration. A stability controller based on sliding mode control (SMC) is designed, considering tire constraints and tracking the optimal yaw angle and sideslip angle. Furthermore, a lateral coordinated control strategy is developed, considering the weight coefficient of stability control, and the yaw moment is calculated and distributed based on the vehicle torque requirements. Findings The proposed integrated, coordinated control strategy successfully addresses the mutual interference between trajectory tracking and stability control in extreme cases for the 4WID vehicle. The strategy achieves trajectory tracking accuracy, dynamic stability and reduced energy consumption while taking into account tire constraints. Originality/value We have proposed a cooperative control strategy for the trajectory tracking problem of autonomous driving vehicles. This strategy is different from previous methods in that we have taken into account the integrated dynamic control in both longitudinal and lateral directions, balancing the conflicting control requirements and reducing energy consumption, improving trajectory tracking accuracy and vehicle dynamic stability. We have verified the feasibility of this strategy through joint simulation under different driving conditions.