Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Abstract It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering poor under high-speed and large-curvature conditions. In this study, an adaptive control strategy coordinates direct yaw moment proposed model predictive algorithm. The recursive least square method with forgetting factor used to identify rear tire cornering stiffness update system prediction model. To adaptively adjust priorities vehicle stability, fuzzy rules applied change weight coefficients in cost function. An for coordinating improve ensure sideslip angle, rate zero methods are construct optimization constraints frame. verified through simulation experiments coordinated can stability