For L4 and above autonomous driving levels, the automatic control system has been redundantly designed, and a new steering control method based on brake has been proposed; a new dual-track model has been established through multiple driving tests. The axle part of the model was improved, the accuracy of the transfer function of the model was verified again through acceleration-slide tests; a controller based on interference measurement was designed on the basis of the model, and the relationships between the controller parameters was discussed. Through the linearization of the controller, the robustness of uncertain automobile parameters is discussed; the control scheme is tested and verified through group driving test, and the results prove that the accuracy and precision of the controller meet the requirements, the robustness stability is good. Moreover, the predicted value of the model fits well with the actual observation value, the proposal of this method provides a new idea for avoiding car out of control.

对于L4及以上的自主驾驶水平，冗余设计了自动控制系统，并提出了一种新的基于制动的转向控制方法。通过多次驾驶测试，已经建立了新的双轨模型。改进了模型的轴部分，通过加速-滑动试验再次验证了模型传递函数的准确性；在该模型的基础上设计了基于干扰测量的控制器，并讨论了控制器参数之间的关系。通过控制器的线性化，讨论了不确定汽车参数的鲁棒性。通过成组驱动测试对控制方案进行了测试和验证，结果表明控制器的精度和精度均符合要求，鲁棒性良好。