Trajectory Tracking Control Combined with Steering and Torque Vector Control based on Holistic MPC

In the limit conditions, the introduction of differential braking into the path tracking control can obtain better vehicle stability and path tracking effect. However, the braking will cause the longitudinal speed of the vehicle to drop rapidly, resulting in poor traffic efficiency, economy and ride comfort. To address this problem, this study proposes a trajectory tracking controller that combines steering and torque vector control, which can generate yaw moment like differential braking while realizing speed control. The proposed controller is implemented based on a holistic model predictive control framework, and the controller model is designed based on the 7DOF vehicle model and the nonlinear UniTire model with combined slip conditions. The co-simulation test of CarSim and MATLAB compares the control performance of the presented controller and the controller combined with steering and differential braking. Simulation results show the effectiveness and superiority of the proposed method.