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Abstract

In the domain of autonomous driving, the dynamic coupling between lateral and longitudinal movements poses significant challenges for trajectory tracking control, often leading to sub-optimal control states and interference between lateral and longitudinal controls. This issue is especially pronounced in front-wheel drive (FWD) vehicles due to their specific configuration. An integrated control architecture effectively minimizes the interference between lateral and longitudinal controls. However, in trajectory tracking tasks requiring coordinated lateral and longitudinal control, changes in steering angle and wheel drive torque lead to variations in tire slip ratio and side slip angle, impacting the current vehicle state at the tire force level. Ignoring the coupling of tire forces between side slip and slip ratio, as well as the time-varying nature of tire parameters, will lead to mismatches in the predictive model. To address these issues, this study thoroughly considers the dynamic coupling and nonlinear time-varying characteristics of vehicle dynamics, and develops an augmented dynamic model capable of accurately describing the vehicle’s state within a limited time domain. Furthermore, considering the limitations of Linear Model Predictive Control (L-MPC) in updating tire side slip and longitudinal stiffness within a limited time domain and the introduction of errors due to linearization, an integrated lateral-longitudinal trajectory tracking controller based on Nonlinear Model Predictive Control (NMPC) has been designed. The accuracy of the predictive model was initially validated using a Matlab/Simulink-CarSim simulation environment, followed by testing the controller using four representative driving scenarios. Simulation results demonstrate that the proposed trajectory tracking controller surpasses other methods in terms of tracking accuracy, robustness, and smoothness of tracking during speed and curvature changes.

Keywords

Autonomous vehicles trajectory tracking control dynamic coupling model nonlinear model predictive control front-wheel-drive vehicles

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Trajectory tracking control of front-wheel drive vehicles considering dynamic coupling

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