A Path Tracking Control Method Considering Vehicle Stability and Road Curvature

The current research on path tracking control focuses on the improvement of tracking accuracy, while ignoring the comfort of the passengers inside the vehicle. Improving comfort can be achieved by improving the algorithm in two aspects: imitating human driving behavior and considering vehicle driving stability. Therefore, this paper proposes a path tracking control method considering vehicle stability indicators and road curvature changes, with the following main content: first, vehicle dynamics modeling is performed, and its dynamics characteristics are analyzed to extract key indicators related to the enhancement of ride comfort in the driving process. This includes combining the human comfort evaluation index of whole-body vibration and the vehicle maneuverability index, and calculating the interval of the relevant vehicle dynamics indexes for the case where the passenger comfort is the highest in the vehicle driving process. Second, the path tracking controller is designed by studying human driving behavior. This includes anti-saturation algorithm and curvature optimization algorithm. The anti-saturation method ensures that the tracking error tends to be stable during vehicle driving, and the curvature optimization of the automatic driving behavior is used to better fit the human driving behavior. Finally, a comparative simulation analysis is carried out with two common path tracking control algorithms under different working conditions, and the results show that the path tracking control method proposed in this paper, which considers the stability index of the vehicle and the curvature change of the road, can better enhance the ride comfort and have the ideal path tracking accuracy.