Research on Lateral Trajectory Tracking of Four-wheel Steering Vehicle Based on Self-adjustment of Preview Time
A lateral trajectory tracking algorithm for intelligent four-wheel steering(4ws)vehicles based on self-adjusting control of pre-sight time was proposed.To address the issue of trajectory tracking accuracy,a driver model of self-adjusting pre-sight time control was established to adjust the preview time,and the front wheel was controlled by synovial control.To tackle the problem of poor driving stability in the tracking process,the yaw velocity feedback control strategy was adopted for rear wheel steering.Simulations were conducted on a joint Carsim and Simulink simulation platform under single-lane change conditions.The simulation results show that the tracking accuracy of self-adjusting preview time control is improved by 55%at low speeds and 5%at high speeds compared to fixed preview time control.Additionally,the sideslip angle of the vehicle with rear-wheel steering using yaw rate feedback control is reduced by 21%at low speeds and 54%at high speeds compared to feedforward control,verifying the effectiveness of the proposed control algorithm in improving driving stability and lateral trajectory tracking capabilities during steering maneuvers.
four-wheel steeringself adjustment of preview timefeedback controllateral trajectory tracking