“…This work treats the vehicle control module and aims to propose new solutions that can enhance the safety of an autonomous vehicle. Indeed, several control techniques can be found in the literature but most of these techniques address the lateral control ( [1], [2], [3], [4], [5], [6]) and the longitudinal control ( [7], [8], [9], [10], [11], [12]) of the vehicle dynamics separately. Actually, the vehicle dynamics are strongly coupled, and in order to control the vehicle and handle its safety and stability, these dynamics coupling should be taken into account when designing the vehicle controller.…”