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The method first locally linearizes the nonlinear prediction model and transforms the MPC optimization solution problem into a quadratic programming problem. The longitudinal vehicle speed and the preview distance are then treated as known in each control time domain, an exponential model is applied to characterize the longitudinal vehicle speed, and a transverse angular velocity-center of mass lateral deflection (<jats:inline-formula><jats:alternatives><jats:tex-math>$$r-\\beta $$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                  <mml:mrow>\n                    <mml:mi>r<\/mml:mi>\n                    <mml:mo>-<\/mml:mo>\n                    <mml:mi>\u03b2<\/mml:mi>\n                  <\/mml:mrow>\n                <\/mml:math><\/jats:alternatives><\/jats:inline-formula>) phase plane plot is applied to characterize the vehicle stability. Finally, proportional integral differential stability controller is designed to improve vehicle stability. Simulation and test results show that: Compared with the MPC tracking control method, the preview MPC control method proposed in this paper can optimize the vehicle tracking performance on different adhesion coefficient road surfaces and improve the tracking accuracy, and this enhancement effect is more obvious at high speeds.<\/jats:p>","DOI":"10.1007\/s10846-024-02197-x","type":"journal-article","created":{"date-parts":[[2024,10,31]],"date-time":"2024-10-31T09:08:12Z","timestamp":1730365692000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Longitudinal and Lateral Cooperative Control of Preview Intelligent Vehicles with Stabilization"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1424-2708","authenticated-orcid":false,"given":"Minan","family":"Tang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6415-7953","authenticated-orcid":false,"given":"Xiaowei","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1480-6692","authenticated-orcid":false,"given":"Kunxi","family":"Tang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0094-2845","authenticated-orcid":false,"given":"Yaqi","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9671-5961","authenticated-orcid":false,"given":"Wenjuan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,10,31]]},"reference":[{"issue":"2","key":"2197_CR1","first-page":"151","volume":"7","author":"JH Guo","year":"2016","unstructured":"Guo, J.H., Li, K.Q., Luo, Y.G.: Review on the research of motion control for intelligent vehicles. 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