Research on Path Tracking Control Strategy of Four-wheel Steering Intelligent Vehicle

doi:10.16182/j.issn1004731x.joss.20-0572

Abstract

Abstract: Aiming at the instability of path tracking control of intelligent vehicle at high speed, a path tracking control strategy of four-wheel steering combined with differential braking is proposed. In the upper layer, the front wheel active steering controller is designed based on the path tracking model. In the lower layer, the integrated controller of active rear steering and additional yaw moment is designed using the sliding mode control method. The additional yaw moment is transformed into the control of single wheel by designing differential braking distribution strategy. Simulation results show that the tracking accuracy of the combined control strategy is 92.16%. Compared with the front wheel steering control strategy, the peak value of lateral tracking error is reduced by 37.9%, the peak value of yaw angle error is reduced by 50.6%, and the peak value of lateral acceleration is reduced by 29.8%, which improves the tracking accuracy and stability of intelligent vehicles at high speed

Key words: intelligent vehicle, path tracking, four-wheel steering, differential braking

CLC Number:

U461.1
TP391

Zhao Jingbo, Zhu Liangpeng, Liu Chengye. Research on Path Tracking Control Strategy of Four-wheel Steering Intelligent Vehicle[J]. Journal of System Simulation, 2021, 33(10): 2390-2398.

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