ABSTRACT
This chapter describes the vehicle motion control refers to the control of vehicle motion along the longitudinal and lateral axes. The lateral control is based on the single-track model enriched with a vehicle position model, which considers the lateral forces influenced by the steering, the sideslip angle, the yaw rate and by the vehicle position relative to the trajectory path. The term is a nonlinear function of time and other parameters that represents an internal disturbance of the linearized error dynamics caused by modeling uncertainties, vehicle parameter variations, external disturbances, uncertainties in road-tire frictions, etc. During the vehicle speed control, a coordination between the both torques needs to be defined to handle the actuation exclusively. The braking torque becomes active when the required control input is negative. The vehicle motion results from vehicle longitudinal and lateral dynamics.
