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Coordinated Control of Trajectory Tracking and Yaw Stability for Intelligent Vehicles Considering Model Uncertainty
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Maojie Zhao1, 2, Bin Lu1, 2, Bing He1, 2, Deng Pan1, 2, Yingbo Li1, 2, Lipeng Cao1, 2
Automotive Engineer | 2026, (5) : 34 - 41
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Automotive Engineer | 2026, (5): 34-41
Coordinated Control of Trajectory Tracking and Yaw Stability for Intelligent Vehicles Considering Model Uncertainty
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Maojie Zhao1, 2, Bin Lu1, 2, Bing He1, 2, Deng Pan1, 2, Yingbo Li1, 2, Lipeng Cao1, 2
Affiliations
  • 1.China Automotive Engineering Research Institute Co., Ltd., Chongqing 401100
  • 2.Jiangsu CAERI Automotive Engineering Research Institute Co., Ltd., Suzhou 215129
Published: 2026-05-15 doi: 10.20104/j.cnki.1674-6546.20250284
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To improve the accuracy and stability of trajectory tracking control for intelligent vehicle, the paper presents an extension coordinated control approach that simultaneously improves tracking performance and maintains yaw stability in the presence of model uncertainty. In the upper layer, the real-time vehicle driving state is mapped to the extension set based on extension theory, where the control mode and weight distribution are determined according to the correlation function. The lower layer considers modeling errors and utilizes a trajectory tracking controller that integrates an Extended State Observer (ESO) with Model Predictive Control (MPC) to compute the front wheel steering angle control input. The Active Disturbance Rejection Control (ADRC) theory is employed to formulate a Direct Yaw Moment Controller (DYC), calculating the corresponding wheel braking torque according to the desired yaw rate. Simulation results validate that the improved tracking performance and stability using the proposed approach.

Model uncertainty  /  Trajectory tracking  /  Yaw stability  /  Extension coordinated control
赵茂杰, 路斌, 何兵, 潘登, 李影博, 曹礼鹏. 考虑模型不确定性的智能汽车轨迹跟踪与横摆稳定性协调控制. 汽车工程师, 2026 , (5) : 34 -41 . DOI: 10.20104/j.cnki.1674-6546.20250284
Maojie Zhao, Bin Lu, Bing He, Deng Pan, Yingbo Li, Lipeng Cao. Coordinated Control of Trajectory Tracking and Yaw Stability for Intelligent Vehicles Considering Model Uncertainty[J]. Automotive Engineer, 2026 , (5) : 34 -41 . DOI: 10.20104/j.cnki.1674-6546.20250284
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Year 2026 volume Issue 5
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doi: 10.20104/j.cnki.1674-6546.20250284
  • Online Date：2026-09-20
  • Published：2026-05-15
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  • Revised：2025-12-05
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    1.China Automotive Engineering Research Institute Co., Ltd., Chongqing 401100
    2.Jiangsu CAERI Automotive Engineering Research Institute Co., Ltd., Suzhou 215129
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