Most existing Path-Following Algorithms (PFAs) are developed for single-unit vehicles (SUVs) and rarely for articulated vehicles (AVs). Since these PFAs ignore the motion of the trailer, they may cause large tracking deviations and ride stability issues when cornering. To this end, an Adaptive Articulation Angle Preview-based Path-Following Algorithm (AAAP-PFA) is proposed for AVs. Different from previous PFAs, in this model, a simple linear vehicle dynamics model is used as the prediction model, and an offset distance calculated by an articulation angle is used as part of the preview distance. An adaptive posture control strategy is designed to trade off the trajectory tracking performance and lateral stability performance during the path-following process. Considering a large prediction mismatch caused by using a linear vehicle dynamics model, a feedback correction method is proposed to improve the robustness of the steering control. In the comparison simulation experiment with SUV-PFA, it is confirmed that the novel PFA has better adaptability to the contradictory relationship between tracking performance and lateral stability and has strong steering control robustness.

By improving the ability of Trajectory Tracking Control (TTC) algorithms to mimic the manipulation behaviors of real drivers, which is of great significance in improving the personalized driving experience of autonomous vehicles. In this paper, we propose a TTC method that combines the Adaptive Control of Thought-Rational (ACT-R) cognitive theory framework with the Preview Tracking (PT) theory. Firstly, by analyzing and describing the ACT-R cognitive framework and the PT theory, a TTC framework that combines the two theories is proposed. Secondly, a virtual driving simulator was built to collect driving data from 30 drivers and construct a driving memory database. Thirdly, a central production system for driver trajectory tracking is designed, which consists of: three control modes, production rules, a timing generator, and filtering methods for driving memory segments. Fourthly, the TTC method based on PT theory is designed to adapt to different control modes. Finally, statistical and comparative analyses of the human-like trajectory tracking results of the proposed method were carried out through co-simulation experiments, and it was verified that the human-like performance of the proposed new method had a high degree of similarity with the manipulation behaviors and the vehicle motion state of the real driver. The real-vehicle experiments are carried out, which verifies the consistency of the proposed method with the results of the simulation experiments.

For distributed drive autonomous vehicles, adding lateral stability control (LSC) to the trajectory tracking control (TTC) can optimize the distribution of the driving torque of each wheel, so that the vehicle can track the planned trajectory while maintaining stable lateral motion. However, the influence of adding LSC on the TTC system is still unclear. Firstly, a stability-track hierarchical control structure composed of LSC and TTC was established, and the interaction between the two layers was identified as the key of this paper. Then, the Intrinsic Mechanistic framework of the stability-tracking control (STC) was proposed by establishing and analyzing the vehicle dynamic model and control process of two layers. Finally, through simulation experiments, it was found that the change in the curvature of the target trajectory will make the tracking target trajectory and maintaining the lateral stability of the vehicle appear to conflict; in addition, in the LSC layer, the steering characteristics and delay characteristics of different reference models have a greater impact on the lateral stability and trajectory tracking performance; moreover, adjusting the preview time has a more obvious effect on trajectory tracking and lateral stability than the stability correction intensity coefficient.

Conventional tracking control algorithms of Distributed Drive Automated Electric Vehicles (DDAEVs) are typically designed for a unique control mode, which may lead to poor lateral stability under various driving conditions. Aimed this problem, an Adaptive Multi-mode Control System (AMCS) is proposed. Firstly, according to the adhesion utilization between tires and road surface, the driving condition is classified into three categories, and three control modes corresponding to them are proposed. Secondly, an Adaptive Neuro-fuzzy Inference-based Mode Matching Control System (ANFI-MMCS) is constructed to calculate the matching degree between vehicle states and control modes. Then, in order to achieve the ideal distribution of road wheel angle and yaw moment while avoiding approaching the limit speed corresponding to the reference trajectory, a model predictive control trajectory tracking controller and a speed controller with limitations were built. Finally, to achieve smooth switching between control modes, the outputs of AMCS are weighted according to the matching degree. In the experimental section, AMCS is evaluated on Carsim-Simulink co-simulation platform, and the results under different tests reveal that the proposed controller is more adaptable.

Previous trajectory tracking control methods do not take into account the continuity and correlation of the driving process, which may result in a low similarity with the real driver's motion state and manipulation behaviour. In this paper, a trajectory tracking control method based on driving segment extraction and splicing is proposed. A key characteristic of this method lies in the frame-by-frame extraction of driving manipulation data, vehicle trajectory, and motion state, which are then employed as the reference values for the preview-tracking controller to perform tracking tasks. Firstly, a framework for trajectory tracking control based on driving segment extraction and splicing is proposed, and the modelling and control process is standardized in a formal language. Secondly, a virtual driving platform based on PreScan+Simulink+CarSim is constructed to build the field, collect driving data from 30 testers, and build the driving segment database. Then, in order to reflect the wide range of validation results, driving type analyses are performed for all driving testers. Then, the trajectory tracking control algorithms applied to the driving segment extraction process and the splicing process are presented, respectively. Finally, simulation experiments and real vehicle experiments are designed to compare the Pearson similarity and feature parameters of manipulation behaviour and vehicle states of different drivers and different driving models. The results show that the new method can better simulate the driver's manipulation behaviour.