关键词: 路径跟踪, 横向稳定性, 期望横摆角速度, 质心侧偏角, 反推法, 线性二次型跟踪器

Abstract: For the problem of path following in autonomous vehicles，the traditional position deviation control me-thod used to neglect the dynamic stability of vehicle． To solve this problem，a control method taking into account the lateral stability of path-following is proposed． Firstly，2-DOF vehicle dynamics model and path-following error model are established． Secondly，taking into consideration the position of vehicle and the state of vehicle dynamics，the desired yaw rate is generated through the use of the back-stepping feedback dominance back-stepping (FDB)．After that，an integrated control strategy of active front steering (AFS) and direct yaw moment control (DYC) based on LQT (linear quadratic tracker) are designed． Next，the ideal control inputs (front wheel angle and yaw moment) are obtained，and the desired yaw rate and sideslip angle is thus tracked accurately． Finally the proposed method is verified in the Simulink environment． The simulation results show that the proposed control method has good lateral stability in path tracking． Compared with the method without considering the lateral stability，the me-thod proposed has higher tracking accuracy in the process of path tracking，the sideslip angle of the vehicle is smal-ler，and the yaw rate can better track the desired value．

Key words: path following, lateral stability, desired yaw rate, sideslip angle, back stepping, linear quadratic tracker