The lateral motion control is a key element for automated driving vehicle technology. Typically, the front steering system has been used as the primary actuator for vehicle lateral motion control. Alternatively, this paper presents a new method of the lateral motion control using a rear steer. When combined with the front steer actuator, the rear steer can generate more dynamically responsive turning of the vehicle. In addition, the rear steer can be used as a secondary back up actuator when the front steer actuator fails to operate during automated driving mode. Similar to the prior research that has used the front steer actuator for the lateral control, the control methodology presented in this paper maintains the same hierarchical framework, i.e., sensor fusion, path prediction, path planning, and motion control. Since the rear steer is in play for the vehicle lateral motion control, the equations for the path prediction and vehicle dynamics are re-derived with non-zero front steer and rear steer angles. Combined with the rear steering dynamics, the model predictive control (MPC) technique is applied for motion error minimization. This paper describes the theoretical part of the algorithm, and provides simulation results to show effectiveness of the algorithm. Future work will include vehicle implementation, testing, and evaluation.
Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion
