关键词: 路径跟踪控制；纵横向协同控制；滑模变结构；RBF 神经网络

Abstract: In order to improve the path tracking accuracy and driving stability of intelligent vehicle, a tracking strategy considering the vertical and horizontal direction coordination is proposed for intelligent vehicle path tracking control. From the perspective of the vehicle system as a whole, vertical motion and horizontal motion are decoupted, and a hierarchical control structure is adopted. The upper controller decoups the vehicle kinematic coupling through the adaptive sliding mode variable structure control based on radial basis function (RBF) neural network, and uses the RBF neural network to track the system disturbance caused by the model uncertainty in real time;The lower controller is the optimal tire force distributor based on the vertical and horizontal cooperative control, and takes the tire adhesion coefficient as the optimization objective. The tire force is confined within the attachment ellipse, and the vertical and horizontal tire force is optimized for distribution, so as to improve the accuracy and stability of vehicle path tracking in extreme working conditions.

Key words: Path tracking control; Vertical and horizontal cooperative control; Sliding mode variable structure; RBF neural network