Abstract: In order to investigate the multi-objective control problem of path following effect and vehicle stability in the path following process of unmanned vehicles, an integrated path following and stability control strategy of unmanned distributed driven vehicle is proposed in this paper using the hierarchical control theory. The vehicle dynamics model and path tracking model are established and the upper layer controller is designed using the sliding mode control method to reduce the course deviation and lateral deviation in the course of path tracking and ensure the stability of the vehicle itself. In the lower layer controller, a four-wheel-tire-force optimal allocation method is presented, which can achieve the orientated control allocation of four wheel tire forces according to the control demand of upper layer controller and the stability degree of vehicle yaw and roll. The co-simulation model is established based on CarSim and Simulink and the simulation verification is carried out. The results show that, the proposed integrated control strategy can effectively control the course deviation and lateral deviation in vehicle path tracking and ensure vehicle roll and lateral stability

Key words: intelligent vehicle; path tracking; vehicle stability; optimal allocation