Collaborative control of trajectory tracking and braking stability of intelligent vehicles with a blowout tire

In this study, a feedforward model predictive controller is developed to address the challege of vehicle trajectory deviation caused by the complex nonlinear characteristics, such as multivariable and time-varying parameters, of a vehicle experiencing a blowout tire. When addressing the issue of braking stability in vehicles with blowout tires, we follow a multistep approach: First, a linear quadratic regulator controller is used to counterbalance the additional yaw moment and maintain vehicle handling stability. Thereafter, a fuzzy sliding mode active braking controller is developed to timely and effectively reduce the vehicle’s speed within a safe range. Finally, a decision-making strategy is proposed to avert conflicts between the upper control and the lower control, achieving the integration of yaw stability control and active braking control. Results show that the collaborative control strategy can effectively rectify the trajectory deviation of a vehicle with a blowout tire, maintain its lateral stability, and achieve rapid longitudinal braking.