The path-following problem for four-wheel independent driving and four-wheel independent steering electric autonomous vehicles is investigated in this paper. Owing to the over-actuated characters of four-wheel independent driving and four-wheel independent steering autonomous vehicles, a novel yaw rate tracking-based path-following controller is proposed. First, according to the kinematic relationships between vehicle and the reference path, the yaw rate generator is designed by linear matrix inequality theory, with the ability to minimize the disturbances caused by vehicle side slip and varying curvature of path. Considering that the path-following objective and dynamics stability are in conflict with each other in some extreme path-following conditions, a coordinating mechanism based on yaw rate prediction is proposed to satisfy the two conflicting objectives. Then, according to the desired yaw rate and longitudinal velocity, a hierarchical structure is introduced for motion control. The upper-level controller calculates the generalized tracking forces while the allocation layer optimally distributes the generalized forces to tires considering tire vertical load and adhesive utilization. Finally, simulation results indicate that the proposed method can achieve excellent path-following performances in different driving conditions, while both path-following objective and dynamics stability can be satisfied.

中文翻译：

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考虑协调与动力学稳定性的四轮独立驾驶和四轮独立转向自主车辆基于横摆率跟踪的路径跟随控制

本文研究了四轮独立驾驶和四轮独立转向电动自动驾驶汽车的路径跟随问题。针对四轮独立驾驶和四轮独立转向自主车辆的过驱动特性，提出了一种基于横摆率跟踪的路径跟随控制器。首先，根据车辆与参考路径之间的运动学关系，采用线性矩阵不等式理论设计横摆率发生器，能够最大限度地减少车辆侧滑和路径曲率变化引起的干扰。考虑到在一些极端的路径跟踪条件下，路径跟踪目标和动力学稳定性是相互冲突的，提出了一种基于偏航率预测的协调机制来满足这两个相互冲突的目标。然后，根据所需的偏航率和纵向速度，引入层次结构进行运动控制。上级控制器计算广义跟踪力，而分配层考虑轮胎垂直载荷和粘合剂利用率，将广义力优化分配给轮胎。最后，仿真结果表明，所提出的方法在不同的驾驶条件下都能获得优异的路径跟随性能，同时满足路径跟随目标和动力学稳定性。上级控制器计算广义跟踪力，而分配层考虑轮胎垂直载荷和粘合剂利用率，将广义力优化分配给轮胎。最后，仿真结果表明，所提出的方法在不同的驾驶条件下都能获得优异的路径跟随性能，同时满足路径跟随目标和动力学稳定性。上级控制器计算广义跟踪力，而分配层考虑轮胎垂直载荷和粘合剂利用率，将广义力优化分配给轮胎。最后，仿真结果表明，所提出的方法在不同的驾驶条件下都能获得优异的路径跟随性能，同时满足路径跟随目标和动力学稳定性。