Vehicle Motion Control for Overactuated Vehicles to Enhance Controllability and Path Tracking

Abstract

The motion control of vehicles poses distinct challenges for both vehicle stability and path tracking, especially under critical environmental and driving conditions. Overactuated vehicles can effectively utilize the available tyre–road friction potential by leveraging additional actuators, thus enhancing their stability and controllability even in challenging scenarios. This paper introduces a novel modular upstream control architecture for overactuated vehicles, integrating a fast and robust linear time-varying model predictive path and speed tracking controller with a model following approach and nonlinear control allocation to form a holistic vehicle motion controller. The architecture decouples the path and speed tracking task from the actuator allocation, where torque vectoring and rear-wheel steering are applied to achieve linear understeer reference vehicle behavior. It allows for the use of a simpler path tracking controller, enabling long preview horizons and enhanced computational efficiency. Nonlinearities, such as the mutual influence of lateral and longitudinal tyre forces, are accounted for within the control allocation. The simulation results demonstrate that the proposed control architecture and overactuation improve vehicle stability in critical driving conditions and reduce path tracking errors compared to a dual-motor vehicle.