For autonomous vehicle path tracking control, the general path tracking controllers usually only consider vehicle dynamics’ constraints, without taking vehicle stability evaluation index into account. In this paper, a linear three-degree-of-freedom vehicle dynamics model is used as a predictive model. A comprehensive control method combining Model Predictive Control and Fuzzy proportional–integral–derivative control is proposed. Model Predictive Control is used to control the vehicle yaw stability and track the target path by considering the front wheel angle, sideslip angle, tire slip angles, and yaw rate during the path tracking. Fuzzy proportional–integral–derivative algorithm is adopted to maintain the vehicle roll stability by controlling the braking force of each tire. Co-simulation with CarSim and MATLAB/Simulink shows the designed controller has good tracking performance. The controller is smooth and effective and ensures handling stability in tracking the target path.

中文翻译：

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考虑侧倾稳定性的自主车辆路径跟踪控制研究

对于自主车辆路径跟踪控制，一般的路径跟踪控制器通常只考虑车辆动力学约束，没有考虑车辆稳定性评价指标。本文采用线性三自由度车辆动力学模型作为预测模型。提出了模型预测控制与模糊比例积分微分控制相结合的综合控制方法。模型预测控制用于在路径跟踪过程中通过考虑前轮角、侧滑角、轮胎侧偏角和横摆率来控制车辆横摆稳定性并跟踪目标路径。采用模糊比例-积分-微分算法通过控制每个轮胎的制动力来保持车辆侧倾稳定性。CarSim 和 MATLAB/Simulink 的联合仿真表明设计的控制器具有良好的跟踪性能。控制器平稳有效，保证跟踪目标路径时的操纵稳定性。