江苏大学学报（自然科学版）2026，Vol.47Issue(3)：249-259,11.DOI:10.3969/j.issn.1671-7775.2026.03.001
智能车辆轨迹跟踪及横摆稳定性联合控制
Trajectory tracking and yaw stability joint control of intelligent vehicle
摘要
Abstract
To solve the issue that ensuring the trajectory tracking accuracy of intelligent vehicles could compromise the yaw stability,the four-wheel steering system control strategy was proposed to achieve integrated control of trajectory tracking and yaw stability.The trajectory tracking controller was designed based on model predictive control,and the four-wheel steering angle allocation method was developed based on the Ackermann steering principle.According to the proposed hierarchical control strategy for yaw stability,in the upper layer,the required additional yaw moment was calculated by sliding mode control,while in the lower layer,the torque was allocated with the objective of minimizing the tire adhesion utilization rate.The co-simulation model was established to conduct path tracking simulations.The results demonstrate that compared to the conventional active front steering,under low speed conditions on dry roads,the maximum lateral displacement deviation is approximately reduced by 60.0％,and the peak values of vehicle sideslip angle and yaw rate are respectively decreased by about 91.2％and 15.4％.Under high speed conditions on dry roads,the lateral displacement deviation is reduced by 0.130 m,and the peak values of sideslip angle and yaw rate are respectively decreased by 61.8％and 27.8％.Under extreme conditions on slippery roads at a speed of 120 km/h,the maximum lateral displacement deviation is only 1.810 m with reduction of roughly 83.6％,and the peak values of sideslip angle and yaw rate are respectively reduced by about 99.0％and 90.7％.The proposed strategy significantly improves the driving stability and safety of intelligent vehicles.关键词
智能车辆/轨迹跟踪/横摆稳定性/四轮转向/滑模控制Key words
intelligent vehicle/trajectory tracking/yaw stability/four-wheel steering/sliding mode control分类
交通工程引用本文复制引用
李胜琴,杨仪献,邢佳祁..智能车辆轨迹跟踪及横摆稳定性联合控制[J].江苏大学学报（自然科学版）,2026,47(3):249-259,11.基金项目
中央高校基本科研业务费专项资金资助项目(2572021BG01) （2572021BG01）
黑龙江省重点研发计划项目(JD22A014) （JD22A014）
