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 System s (IVHS). A fully coordinated control of the steering and the accelerating/ braking actions is presented to maximize the ability of distributing the tr action forces in a desired way. This control method covers a broad range of driving condition by removing several conventional simplification on vehic le 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. Ro bust Adaptive Control (RAC) by back-stepping for MIMO nonlinear systems is utilized to control the unmatched nonlinear vehicle dynamics, in the presen ce of parametric uncertainties and uncertain nonlinearities.