Coordinated Torque Vectoring Control And Path-Following Of Autonomous Vehicles With Sideslip Angle Estimation

This paper proposes a coordinated control strategy that considers torque vectoring control (TVC) and path following system (PFS) for autonomous vehicles with four in-wheel motors. Firstly, a non-linear vehicle state observer based on UniTire tyre model is proposed to estimate longitudinal and lateral speed. Then the sideslip angle and tyre slip ratio can be obtained. Secondly, a lateral and longitudinal path following algorithm using the driver model based on optimal preview theory and PI controller is established. For the vehicle safety control of autonomous driving, a layered control scheme is proposed, in which the upper layer employs an adaptive second-order sliding mode controller (ASOSM) to get additional yaw moment. Finally, simulation test results prove that the proposed state observation and coordinated control algorithm is valid.