Stability control study on trajectory tracking of unmanned vehicle based on four-wheel steering

doi:10.16731/j.cnki.1671-3133.2025.08.006

Abstract

Abstract: In order to solve the limitations of traditional model prediction algorithms in intelligent vehicle trajectory tracking and to improve the accuracy of trajectory tracking and the lateral stability of the vehicle during the automatic driving process,a model prediction control trajectory tracking strategy based on adaptive fuzzy adjustment of weight coefficients and combining front-wheel cornering compensation and rear-wheel active steering control was proposed. First,the overall control structure was divided into two layers:the upper layer was the trajectory tracking control layer,which used the model predictive control algorithm to derive the ideal front wheel turning angle of the vehicle;the lower layer used the adaptive sliding mode control theory to design the front wheel turning angle compensator and the active rear wheel steering controller to derive the compensated front wheel turning angle and the rear wheel turning angle of the vehicle,and thus realized the four-wheel steering trajectory tracking control. Secondly,for the problem that the model predictive control with fixed weight coefficients was poorly adapted to the change of external vehicle speed and road surface adhesion coefficient,a weight coefficient adaptive adjustment strategy based on fuzzy control was proposed. Finally,through Simulink and CarSim software,a comparison was made with the traditional algorithm under the experimental conditions of different vehicle speeds and different road surface adhesion coefficients,and the simulation results show that different longitudinal vehicle speeds have a great degree of influence on the trajectory tracking of the traditional algorithm,while the improved algorithm has less influence. Especially when the vehicle speed is high and the road surface adhesion coefficient is low,the improved algorithm makes the trajectory error smaller,and at the same time ensures that the vehicle can drive safely and stably.

Key words: four-wheel steering, trajectory tracking, fuzzy Model Predictive Control (MPC), front-wheel rotation compensation and rear-wheel active steering control, lateral stability

CLC Number:

U461.6

CHEN Pengyu, SUN Youping, LI Wangzhen, YING Jiangpeng, LI Songwei. Stability control study on trajectory tracking of unmanned vehicle based on four-wheel steering[J]. Modern Manufacturing Engineering, 2025, 539(8): 48-62.

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