Coupled Lateral and Longitudinal Controller for Over-Actuated Vehicle in Evasive Maneuvering with Sliding Mode Control Strategy

Coupled controllers are vital for safely handling vehicles, especially in critical driving situations that include changing lanes to avoid obstacles. Controllers specialized emergencies must keep road users safe situations. In this paper, we develop the coupled controller handle evasive maneuvers an over-actuated vehicle. The is based on second-order sliding mode control theory. We use bicycle model establish equivalent and robust steering equations as a control-oriented model. lateral longitudinal vehicle motions each other by information surface, dependence of surface velocity. torque vectoring method fuzzy logic adjusts yaw moment. address tire slip circle stabilize while maneuvering. simulate evaluate our rear-end collision situation with short time window maneuver ego detects preceding performs lane change simultaneously applying brakes bring halt. Our research earliest providing ultimate emergency successfully crashes up 130 km/h crash detection.