ABSTRACT This paper proposes a linear predictive lateral control method to stabilise a highly automated vehicle (HAV) at the tire-road friction limits when tracking a (tight) desired path. Two approaches are adopted to linearise the vehicle model around the tire saturation region: (1) the lateral force of the front tire is selected as the control input instead of the steer angle and (2) the rear tire dynamics is locally linearised at the current operating point within the predictive horizon. The friction limits of both the front and rear tires are utilised to define an enveloped stable zone, which serves as the safety constraints for the predictive controller. Simulation results show that the proposed controller is able to stabilise a vehicle when tracking a tight desired path at a high speed even on a low-adhesion road. Moreover, the robustness of the proposed controller is also verified as it tolerates small estimation errors in the road friction coefficient.

中文翻译：

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预测横向控制以在轮胎与道路摩擦极限下稳定高度自动化的车辆

摘要本文提出了一种线性预测横向控制方法，以在跟踪（紧密）所需路径时在轮胎-道路摩擦极限下稳定高度自动化车辆 (HAV)。采用两种方法对轮胎饱和区域周围的车辆模型进行线性化：（1）选择前轮胎的横向力作为控制输入而不是转向角；（2）后轮胎动力学在当前局部线性化预测范围内的操作点。前后轮胎的摩擦极限被用来定义一个封闭的稳定区域，作为预测控制器的安全约束。仿真结果表明，即使在低粘性道路上，所提出的控制器也能够在高速跟踪狭窄的理想路径时稳定车辆。而且，