To address the issue of unstable path tracking during autonomous vehicle operation

a preview-follow theory is adopted to design a sliding mode controller for the front-wheel steering

aiming to reduce tracking errors in vehicle trajectory. This controller enables real-time tracking of the planned path. Additionally

to enhance vehicle stability

an integrated controller is designed using sliding mode control for rear-wheel steering angle and yaw moment. Furthermore

yaw moment distribution is performed based on the load of each wheel to optimize vehicle stability during operation. By building a Carsim/MATLAB co-simulation platform

the proposed control algorithm is verified under the two conditions of high speed high adhesion

and low speed low adhesion. The stability differences between front wheel steering (FWS)

front wheel steering with direct yaw moment control (FWS+DYC)

four-wheel steering (4WS) and four-wheel steering with direct yaw moment control(4WS+DYC) were compared. The results indicate that the designed driver model can effectively track the expected path and effectively reduce path tracking bias. Four-wheel steering and yaw moment assisted control can effectively reduce the peak values of sideslip angle and yaw rate

and increase the stability of vehicle driving.