Keeping a vehicle in its current lane without veering into adjacent lanes is important in hard-braking manoeuvres on split-$\mu$ roads. Whether the emergency braking is initiated by a human driver or by an AEBS, drivers have difficulty adjusting steering correctly to balance yaw moment generated by asymmetric tyre braking force. Some anti-lock braking systems reduce braking force to reduce the yaw moment, which will increase braking distance. To improve the stability in the abovementioned scenario, a feedback-feedforward steering controller is proposed in this paper. To describe the tyre force characteristics of combined slip and nonlinearity, a linear tyre model based on the total differential method is developed. The receding horizon linear quadratic regulator method is utilised to design the feedback steering input to drive state variables to zero in the finite domain. And fuzzy logic is developed to tune the weighting matrix. Furthermore, feedforward steering input is designed to suppress path tracking steady-state error. The performance of the proposed controller is illustrated by hard-braking manoeuvres experiments on normal split-$\mu$ and ‘checkerboard’ roads.

将车辆保持在当前车道而不会转向相邻车道，这对分叉式硬刹车演习非常重要，$\mu$道路。无论是由人类驾驶员还是由AEBS发起紧急制动，驾驶员都难以正确调整转向以平衡由不对称轮胎制动力产生的偏航力矩。一些防抱死制动系统会减小制动力以减小偏航力矩，从而增加制动距离。为了提高上述情况下的稳定性，提出了一种反馈前馈转向控制器。为了描述滑移和非线性相结合的轮胎力特性，建立了基于总微分法的线性轮胎模型。后退水平线性二次调节器方法用于设计反馈转向输入，以在有限域中将状态变量驱动为零。并且开发了模糊逻辑来调整加权矩阵。此外，前馈转向输入旨在抑制路径跟踪稳态误差。拟议的控制器的性能通过在正常分裂情况下的制动操作实验得以说明。$\mu$ 和“棋盘”道路。