Design of Integrated Autonomous Driving Control System That Incorporates Chassis Controllers for Improving Path Tracking Performance and Vehicle Stability

This paper describes an integrated autonomous driving (AD) control system for vehicle with four independent in-wheel motors (IWMs). The consists of two parts: the AD controller and chassis controller. These elements are functionally to improve stability path tracking performance. is assumed employ IWM independently at each wheel. implements longitudinal/lateral using proportional-integral(PI) adaptive model predictive control. composed lateral units: active front steering (AFS) torque vectoring (TV) Jointly, they find yaw moment maintain sliding mode control; AFS prioritized over TV enhance safety margin energy saving. Then, command optimally distributed wheel by solving a constrained least-squares problem. Validation was performed simulation in double lane change scenario. results show that this significantly improves capability comparison other systems.