Coordinated Longitudinal and Lateral Motion Control of Vehicles for IVHS

This paper presents a systematic design of the combined control of vehicle longitudinal and lateral motions for the Intelligent Vehicle Highway Systems (IVHS). A fully coordinated control of the steering and the accelerating/braking actions is presented to maximize the ability of distributing the traction forces in a desired way. This control method covers a broad range of driving condition by removing several conventional simplification on vehicle dynamics, such as the linearized lateral traction force assumption, the bicycle model assumption, and the non-slip assumption. The nominal traction force concept is also introduced to handle the unknown traction forces. Robust Adaptive Control (RAC) by backstepping for MIMO nonlinear systems is utilized to control the unmatched nonlinear vehicle dynamics, in the presence of parametric uncertainties and uncertain nonlinearities.