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

Authors

Jingbo Zhao, 1. School of Automobile Engineering, Changzhou Institute of Technology, Changzhou 213032, China; ;
Liangpeng Zhu, 2. School of Automobile and Traffic Engineering Changzhou, Jiangsu University of Technology, Changzhou 213001, China;
Chengye Liu, 2. School of Automobile and Traffic Engineering Changzhou, Jiangsu University of Technology, Changzhou 213001, China;

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

Recommended Citation

Zhao, Jingbo; Zhu, Liangpeng; and Liu, Chengye (2021) "Research on Path Tracking Control Strategy of Four-wheel Steering Intelligent Vehicle," Journal of System Simulation: Vol. 33: Iss. 10, Article 12.
DOI: 10.16182/j.issn1004731x.joss.20-0572
Available at: https://dc-china-simulation.researchcommons.org/journal/vol33/iss10/12

First Page

2390

Revised Date

2020-08-15

DOI Link

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

Last Page

2398

CLC

U461.1;TP391

Recommended Citation

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.

DOI

10.16182/j.issn1004731x.joss.20-0572