Distributed Vehicle Longitudinal and Lateral Stability Coordinated Control for High-speed Obstacle Avoidance

A hierarchical longitudinal and lateral motion coordinated control method is proposed for the driving stability problem of distributed drive vehicles under high-speed obstacle avoidance conditions. Firstly, the desired acceleration of the driver and the ideal vehicle state calculated by the reference model are used as references in the upper-level controller to establish a three-degree-of-freedom nonlinear model of the vehicle. The model has limitations on its control quantity and control increment. A longitudinal and lateral coupled motion controller is designed using the Adaptive Model Predictive Control (AMPC) method. The lower-level tire force distribution algorithm uses the external positive octagon of the tire force attachment friction circle to simplify the tire force distribution constraint and optimally distribute the total force moment solved by the upper-level motion controller to obtain the longitudinal force and lateral force of the tire to improve the driving stability of the distributed vehicle. In this paper, two typical operating conditions, open-loop angular step, and double-shifted line, are selected and validated by combined simulation with Carsim software and MATLAB/Simulink software. The results show that the longitudinal and lateral coordinated control method can effectively improve the driving stability of the distributed vehicle under high-speed obstacle avoidance conditions.