Trajectory tracking and stability control of high-speed autonomous vehicle

A lateral control algorithm combining feedforward-feedback control and active disturbance rejection control (ADRC) was proposed aiming at the difficulty in ensuring the trajectory tracking accuracy and stability of high-speed autonomous vehicles. The feedforward steady-state front wheel steering angle was calculated by the vehicle longitudinal velocity and road curvature information, and the vehicle sideslip angle was introduced into the heading angle. Then the vehicle heading angle deviation and lateral deviation were used as the reference values for feedback control. The feedforward-feedback control was employed to improve vehicle transient trajectory tracking performance. Then the ADRC controller was designed, and the un-modeled dynamics along with the internal and external disturbances were estimated by the extended state observer. The sideslip angle of rear wheel was controlled near the reference value to compensate the front wheel steering angle by ADRC, which improved the steering stability of the autonomous vehicle and the robustness of the controller. The simulation results under different working conditions show that the proposed method can ensure the autonomous vehicle to stably track the desired trajectory with lower tracking deviation and has good robustness against parameter uncertainties and external disturbances. © 2021, Zhejiang University Press. All right reserved.