Unmanned vehicle trajectory tracking and yaw stability control method and system

The invention relates to the technical field of unmanned vehicle motion control, and discloses an unmanned vehicle trajectory tracking and yaw stability control method and system. According to the method, a trajectory tracking controller, a vehicle speed tracking controller and a yawing moment controller are established to obtain an expected front wheel steering angle, a longitudinal driving moment and an additional yawing moment respectively, and active steering control, longitudinal vehicle speed control and vehicle yawing stability control are carried out; establishing a four-wheel torque distribution controller, and optimizing the target driving torque of the wheels according to the longitudinal driving torque and the additional yawing torque; and a sliding rate tracking controller is established, the target driving force is converted into a target sliding rate, wheel driving torque is output, and target tire force tracking control of the vehicle is carried out. According to the method, the dynamic charac