Intelligent Vehicle Longitudinal and Lateral Cooperative Tracking Control Based on Feed-Forward Compensation and Error Model

The cooperation between the longitudinal and lateral control enables the vehicle to accurately and stably follow the target trajectory, allowing the vehicle to perform basic operations such as speed adjustment, headway maintenance, lane-changing, and overtaking during the driving process. Based on the dynamics model, the lateral and longitudinal control models of the vehicle are presented in this paper. In the lateral LQR control model, the feed-forward compensation is added to reduce the steady-state error of the system. In the longitudinal PID control model, a PID control strategy based on position and speed is set. Using the CarSim and Simulink software, a co-simulation platform is established. Through the comparison of co-simulation analysis under various working conditions, it is demonstrated that the designed controller achieves satisfactory tracking control performance under different vehicle speed conditions. The results also show that the designed control model has a good trajectory tracking effect and can effectively track the expected trajectory.