An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking

Abstract

In this paper, an optimal controller for integrated longitudinal and lateral closed loop vehicle/driver dynamics proposed to follow desired path in various driving maneuvers, which also improved maneuverability and stability of vehicle over desired path. De-signed controller imposed corrected steering angle and torque on the wheels to keep the vehicle on the desired trajectory whilst modified its handling properties. In the next stage, performance of proposed optimal linear quadratic regulator (LQR) controller compared with Proportional-integrated-derivative (PID) one. The proposed controllers has been implemented on vehicle eight degree of freedom model in MATLAB/Simulink. Then the effects of adaptive controller on vehicle path following has been examined for various maneuvers, by driving on the lane change, J-turn, double lane-change and desired tracks. Finally, longitudinal dy-namic performance of vehicle has been investigated during severe braking conditions. Simulation results indicated the dominate efficiency of controller on the vehicle stabilization and path following. Also, it improved longitudinal dynamics performance by pre-venting wheel lock and reducing stopping distance.