Coordinated control for path-following of an autonomous four in-wheel motor drive electric vehicle.

Coordination of Active Front Steering (AFS) and Direct Yaw Moment Control (DYC) has been widely used for non-autonomous vehicle lateral stability control. Recently, some researchers used it (AFS/DYC) for path-following of autonomous vehicles. However, current controllers are not robust enough with respect to uncertainties and different road conditions to guarantee lateral stability of Autonomous Four In-wheel Motor Drive Electric Vehicles.