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<p>The lateral motion control of following vehicles is essential to the safe operation of the vehicle platoon. This paper aims to address the lateral motion control problem of vehicle platoons in cornering cases based on coordination of longitudinal tire force distribution and steering, especially in high-speed steering scenarios. First, a dynamic platoon vehicles trajectory planning scheme is proposed based on vehicle-to-vehicle (V2V) communication, then the position/angular deviation model is constructed in Frenet frame, and the desired yaw rate is calculated based on a PD controller with the chain system representation; With the yaw rate error and the error rate as the inputs, the adaptive neural fuzzy inference system (ANFIS) is presented to generate the additional yaw moment; and a modified least mean square (LMS)/Newton method with reconfigurable structure is applied to map the target virtual control to the distributed tire force and steering actuation. The distinguished tracking performance of the controller is verified by simulation results.</p>

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Lateral Motion Planning and Control Design of Platoon Following Vehicles for Cornering Scenarios

  • 期刊论文

  • 发表日期：

    2026年5月11日

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  • Zepeng Gao,
  • Jianbo Feng,
  • Bingying Guo

摘要

The lateral motion control of following vehicles is essential to the safe operation of the vehicle platoon. This paper aims to address the lateral motion control problem of vehicle platoons in cornering cases based on coordination of longitudinal tire force distribution and steering, especially in high-speed steering scenarios. First, a dynamic platoon vehicles trajectory planning scheme is proposed based on vehicle-to-vehicle (V2V) communication, then the position/angular deviation model is constructed in Frenet frame, and the desired yaw rate is calculated based on a PD controller with the chain system representation; With the yaw rate error and the error rate as the inputs, the adaptive neural fuzzy inference system (ANFIS) is presented to generate the additional yaw moment; and a modified least mean square (LMS)/Newton method with reconfigurable structure is applied to map the target virtual control to the distributed tire force and steering actuation. The distinguished tracking performance of the controller is verified by simulation results.