Trajectory Tracking and Coordinated Control of Lateral Stability of Driverless Vehicles with Four-Wheel Independent Drive and Independent Steering

This paper proposes a scheme for the coordinated control of trajectory tracking and lateral stability of all-wheel independent drive steering unmanned vehicles. By constructing a model predictive controller that integrates vehicle dynamics and path tracking, the rear wheel angle, front wheel angle and additional transverse moment are optimized synchronously, and the quadratic programming interior point method is used to optimally distribute the longitudinal force of all wheels under the objective of minimizing the tyre loading rate. The verification based on Carsim-Simulink joint simulation shows that the control strategy can reduce the transverse error and heading error during trajectory tracking under the premise of ensuring the transverse stability, which significantly improves the dynamic control performance of the vehicle.