Path Tracking Control of Commercial Vehicle Considering Roll Stability Based on Fuzzy Linear Quadratic Theory

Commercial vehicles generally drive at a higher speed on structured expressways, and their center of mass leads to lower rollover threshold greater risk while steering. Therefore, the design lateral trajectory-tracking control strategy for commercial should not only consider accuracy trajectory tracking but also roll stability. Based this objective, fuzzy linear quadratic controller was designed in study ensure rolling stability path-tracking process improve adaptability driving scenario. Firstly, steering braking cooperative model based four-degree-of-freedom multi-point preview established. Then, path considering theory. On basis, realize online optimization cost function weights. Finally, effectiveness verified using co-simulation hardware-in-loop experiments. The results show that can effectively adjust weight according vehicle’s state. This improves distribution problem.