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Towards a fully coordinated vehicle control strategy

In this paper, models oriented towards a full vehicle control design are proposed and validated. The aim of this work is to prepare all models needed in order to have a fully controlled system. First, a complete full vehicle model including the longitudinal, lateral and vertical dynamics is proposed and validated using several scenarios. This model is used to test offline the response behavior of a vehicle due to different control inputs. Second, a model generating states reference trajectories for control purposes are developed. Then, a synthesis model needed for the controller design is presented. Based on these models, a siding mode controller is proposed to ensure the stability of the system.