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Vehicle control is one of the most critical challenges in autonomous vehicles(AVs) and connected and automated vehicles (CAVs), and it is paramount invehicle safety, passenger comfort, transportation efficiency, and energysaving. This survey attempts to provide a comprehensive and thorough overviewof the current state of vehicle control technology, focusing on the evolutionfrom vehicle state estimation and trajectory tracking control in AVs at themicroscopic level to collaborative control in CAVs at the macroscopic level.First, this review starts with vehicle key state estimation, specificallyvehicle sideslip angle, which is the most pivotal state for vehicle trajectorycontrol, to discuss representative approaches. Then, we present symbolicvehicle trajectory tracking control approaches for AVs. On top of that, wefurther review the collaborative control frameworks for CAVs and correspondingapplications. Finally, this survey concludes with a discussion of futureresearch directions and the challenges. This survey aims to provide acontextualized and in-depth look at state of the art in vehicle control for AVsand CAVs, identifying critical areas of focus and pointing out the potentialareas for further exploration.

A Systematic Survey of Control Techniques and Applications in Connected and Automated Vehicles