This article studies the control problem of autonomous vehicle path following with coordination of active front steering and differential steering. A hierarchical control scheme including upper layer and lower layer is proposed. In the upper layer controller, a linear quadratic regulator based on extended state observer is proposed to generate the front-wheel steering angle and external yaw moment, where extended state observer is used to estimate and compensate for the system uncertainty and external disturbance which enhances the capability of the vehicle to suppress the disturbance. A brake force distribution scheme based on the theory of control allocation is proposed in the lower layer controller to optimize and coordinate each wheel brake force to achieve differential steering. Finally, the effectiveness of proposed control scheme is verified in a co-simulation platform based on CarSim/Simulink; it can be concluded that the linear quadratic regulator based on extended state observer scheme not only has a few parameters need to be tuned, but also has the capability of active disturbance rejection.
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