Integrated Control of Path Following and Lateral Stability for Unmanned Autonomous Vehicle with Decentralized Driving System

As a basis of hierarchical control structure, this paper proposes an integrated control approach of path following and lateral stability for unmanned autonomous vehicle with decentralized driving system. In the upper layer controller, the Sliding Mode Control theory is used to reduce the path following heading error and lateral offset while ensuring the vehicle stability. In the lower layer controller, the optimal tire force allocation method is used to execute the control demand from the upper controller. The CarSim-Simulink co-simulation results verify the effectiveness of the proposed approach.