A Layered Coordinated Trajectory Tracking for High- Speed A-4WID-EV in Extreme Conditions

In order to improve the accuracy of trajectory tracking and handling stability for high-speed autonomous vehicle in extreme conditions, a novel trajectory tracking layered coordinated control strategy based on future driving state prediction for autonomous four-wheel independent drive electric vehicle (A-4WID-EV) is proposed, For the upper controller, a driving state prediction algorithm based on the variable-order Markov model with dynamic window is proposed to predict the driving state in the future. For the lower controller, an active front wheel angle control strategy based on multi-scale model predictive control (MPC) is designed to provide vehicle front wheel angle. Meanwhile, a coordinated four-wheel drive torque control strategy based on the future driving state is proposed to ensure the lateral stability during the trajectory tracking. Finally, through the CarSim-Matlab/Simulink co-simulations, the results show that the proposed controller can effectively improve accuracy trajectory tracking and lateral stability of highspeed A-4WID-EV in extreme conditions.