Combined-Slip Trajectory Tracking and Yaw Stability Control for 4WID Autonomous Vehicles Based on Effective Cornering Stiffness

Trajectory tracking is a crucial responsibility for autonomous vehicles as they strive to avoid collisions. During combined-slip emergency situations where steering and driving/braking joint control are required, the nonlinearity and coupling of tire forces become increasingly important, rendering a...

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Veröffentlicht in:	IEEE transactions on intelligent transportation systems 2024-12, Vol.25 (12), p.20683-20697
Hauptverfasser:	Xu, Nan, Hu, Min, Jin, Lingge, Ding, Haitao, Huang, Yanjun
Format:	Artikel
Sprache:	eng
Schlagworte:	Autonomous vehicles combined-slip condition Mathematical models Predictive models Stability criteria tire model Tires Trajectory tracking trajectory tracking control Wheels yaw stability control
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