基于转向与制动协同的无人车辆轨迹跟踪控制

Aiming at the instability problem of autonomous vehicle during trajectory tracking control under extreme road conditions, a layered cooperative trajectory tracking control method utilizing front wheel steering and differential braking is proposed. Firstly, based on the model predictive control algorithm, the upper-layer trajectory tracking controller is designed to control the steering angle of the front wheel to achieve the desired trajectory tracking control under normal working conditions. Secondly, based on the sliding mode control algorithm, the bottom-layer yaw stability controller is designed to obtain the additional yaw moment required for maintaining trajectory tracking stability. Furthermore, a differential braking control strategy is introduced to dynamically distribute the braking torque of individual wheels. The co-simulation results show that the proposed hierarchical cooperative trajectory tracking control method can effectively improve the vehicle stability and trajectory tracking accuracy under extreme road conditions.