IJCAS

Path following accuracy and lateral stability of autonomous vehicle are the direct embodiment of control quality in intelligent driving. To achieve the coordination of path following and lateral stability, a novel nonlinear concurrent control method for autonomous vehicle considering high-frequency interference and actuator saturation is proposed to solve the coupling problem of multi-objective control with single actuator input. The vehicle dynamics model and path following model are expressed as state equations with the same control input by model integration transformation. At the same time, the actuator saturation and high-frequency interference of AGV model is considered, which is incorporated into the integrated state equation. The Hamilton function for path following and lateral stability control are designed respectively, the existence condition of controller design based on vehicle characteristics is discussed and proved, and a nonlinear concurrent control method of AGV is presented with the control system stability being analyzed. The results show that the designed controller can ensure the path following effect and maintain the lateral stability of AGV simultaneously.

Keywords: Actuator saturation, autonomous vehicle, nonlinear control, path following, vehicle stability.