重庆理工大学学报2025，Vol.39Issue(19)：84-93,10.DOI:10.3969/j.issn.1674-8425(z).2025.10.010
四轮独立转向车辆路径跟踪控制仿真
Simulation research on path tracking control of four-wheel independent steering vehicles
摘要
Abstract
To improve the path tracking of four-wheel independent steering(4WIS)vehicles,this paper proposes a path tracking controller based on model predictive control(MPC).First,a tracking error model for the 4WIS vehicle is developed.By incorporating a preview model adapted to vehicle speed and feed-forward control to eliminate steady-state errors,the path tracking accuracy and stability of autonomous vehicles are improved under various driving conditions.Simulation results show the proposed controller reduces the lateral errors by 62.0%and 54.9%at medium and high speeds.Additionally,it decreases the heading error by 65.5%,51.9%,and 33.4%at low,medium,and high speeds respectively,markedly improving the performance of the traditional MPC controller.Meanwhile,the feed-forward preview MPC controller demonstrates better path tracking performance and body attitude control under different road adhesion coefficients.Especially at high speeds and under complex road conditions,both its robustness and vehicles'ride comfort improve significantly.关键词
四轮转向/路径跟踪/模型预测控制/预瞄模型/前馈控制Key words
four-wheel steering/path tracking/model predictive control/preview model/feed-forward control分类
信息技术与安全科学引用本文复制引用
石奇龙,吴维,万浩东,苑士华..四轮独立转向车辆路径跟踪控制仿真[J].重庆理工大学学报,2025,39(19):84-93,10.基金项目
重点实验室基金一般项目(2023-JCJQ-LB-037) （2023-JCJQ-LB-037）
