Research on trajectory tracking of deflection-differential coordinated steering for four-wheel independent drive vehicles
To improve the path tracking performance of four-wheel independent drive vehicles under different speeds and tire-road friction coefficients, this paper designs a path tracking strategy through the collaboration of deflection steering and differential steering.Based on the 2DOF dynamic model, the front wheel deflection steering path tracking strategy is built by multi-point preview and linear quadratic regulator (LQR) , and the four wheel differential steering path tracking strategy is built by sliding mode control and four wheel torque optimization allocation.Fuzzy control is adopted to achieve the adaptive weight allocation of deflection and differential steering.The deflection-differential collaborative control strategy is built,consisting of a path tracking layer, a steering angle and torque allocation control layer.A co-simulation platform is also built for collaborative steering path tracking control and LQR deflection steering path tracking control using Carsim and Simulink.Simulations are conducted under double lane changing conditions with a speed of 54 km/h or 72 km/h and a road tire-road friction coefficient of 0.3 or 0.8.Our results indicate the collaborative steering path tracking improves both stability and lateral tracking accuracy under all operating conditions compared with LQR deflection steering path tracking.
four-wheel independent drive vehiclesdeflection-differential cooperative steeringpath trackingvariable weight coefficient control
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