Research on Lateral and Longitudinal Coordinated Control of Distributed Driven Driverless Formula Racing Car under High-Speed Tracking Conditions

Aiming at the problem that it is difficult to ensure trajectory tracking accuracy and driving stability of distributed driven driverless formula racing car under high-speed conditions, a lateral longitudinal coordinated control strategy proposed. Based on adaptive model predictive theory, motion controller designed, prediction time domain changed in real according change vehicle speed. sliding mode variable structure designed accurately track desired Considering coupling between controls, inputs speed displacement vehicle, using feedback mechanism update time, takes front wheel angle as input, torque redistributed through differential drive control, carried out improve stability. The typical working conditions are selected for co-simulation test verification. results show can effectively