重庆理工大学学报2026，Vol.40Issue(7)：57-63,7.DOI:10.3969/j.issn.1674-8425(z).2026.04.007
四轮转向智能车辆平移换道舒适性研究
Research on lane change comfort of four-wheel steering intelligent vehicles
摘要
Abstract
To address the poor ride comfort in four-wheel steering intelligent vehicles during lane-changing maneuvers,this paper proposes a lateral translation-based lane-changing control method.Based on a constant yaw-rate preview control and a model predictive control(MPC)algorithm,it coordinates the front and rear wheel steering angles to maintain the stability of the vehicle's heading direction during lane changes.To validate the effectiveness of this control strategy,a co-simulation platform integrating CarSim and Matlab/Simulink is built and a single lane-change scenario is configured.On this platform,two driving scenarios,namely straight and curved lane-changing maneuvers are investigated.Simulation results demonstrate the proposed method markedly reduces the vehicle's lateral acceleration and yaw rate compared with conventional lane-changing strategies.Meanwhile,it achieves smoother lateral acceleration profiles,effectively enhancing vehicles'ride comfort.关键词
平移换道/预瞄控制/模型预测控制/乘坐舒适性Key words
lane change/preview control/MPC/ride comfort分类
交通工程引用本文复制引用
李忠利,张浩乐,闫祥海,赵建华,田宇..四轮转向智能车辆平移换道舒适性研究[J].重庆理工大学学报,2026,40(7):57-63,7.基金项目
河南省高校科技创新人才支持计划项目(25HASTIT037) （25HASTIT037）
