Integrated Path Tracking and Lateral Stability Control with Four-Wheel Independent Steering for Autonomous Electric Vehicles on Low Friction Roads

This paper presents a method to design an integrated path tracking and lateral stability controller for autonomous electric vehicle with four-wheel independent steering (4WIS) on low friction roads. Recent advances in driving have led extensive studies control. However, is difficult In this paper, control was converted the yaw rate one cope problems caused by To generate reference tracking, we present several methods using driver model target path. For designed two-layer hierarchy, i.e., upper lower layers. The moment calculated direct layer. layer, allocation adopted allocate into angles of 4WIS. verify performance proposed controller, conducted simulation software. From results, it shown that effective analyze roads, effects steady-state gain are investigated from results.