Vehicle longitudinal and lateral coupling control based on sliding mode control

A longitudinal and lateral coupling dynamic vehicle model taken the longitudinal velocity, lateral velocity and yaw rate as the states is presented based on the dynamic analysis. The outputs of the controller are taken as the longitudinal spacing error and the lateral position error, and the inputs are taken as the engine torque (braking torque) and the steering angle. Sliding model control method is used to design the controller, and the coupling control is compared against the decoupling control. The purpose of the longitudinal and lateral coupling controller is to improve the tracking performance and enhance the vehicle safety by compensating for coupling effects in them design of the controller. The simulation results indicate that the coupling controller has the better performance.