面向极限侧偏场景的四轮转向车辆无偏全状态反馈路径跟踪控制方法研究

doi:10.19562/j.chinasae.qcgc.2025.11.014

Abstract

Abstract:

For the problem of non-convergence of lateral and heading errors of path tracking in extreme lateral slip scenarios of the motion control method widely used in four-wheel steering vehicles based on feedback mechanism， a control method integrating unbiased feedforward and hysteresis-corrected full-state feedback is proposed. Firstly， a full-state feedback controller considering path preview and hysteresis correction is designed， and based on this， a closed-loop analysis of the lateral motion of four-wheel steering vehicles is conducted. The unbiased feedforward steering angle with zero lateral and heading errors in the steady state is deduced， thereby establishing the control algorithm combining unbiased feedforward and hysteresis-corrected full-state feedback. Finally， the proposed control algorithm is applied in real vehicle tests and compared and verified with the pure feedback control algorithm and the proportional feedforward plus full-state feedback control algorithm. The results show that the proposed control algorithm reduces the maximum lateral error by 26.6% and 20.5% respectively， and the maximum heading error by 21.9% and 15.7% respectively in the high-curvature working condition. In the high-speed serpentine working condition， the maximum lateral error is reduced by 29.9% and 15.6% respectively， and the maximum heading error is reduced by 37.8% and 32% respectively.

Key words: four-wheel steering vehicles, extreme sideslip, path tracking, full-state feedback, unbiased feedforward

Guoying Chen,Jiahao Dong,Xinyu Wang,Jiaqi Wang,Lei Lu,Lun Li. Research on Unbiased Full State Feedback Path Tracking Control Method for Four-Wheel Steering Vehicles for the Extreme Sideslip Scenario[J].Automotive Engineering, 2025, 47(11): 2202-2211.

Figures/Tables 17

参数	数值
整车质量 $m / k g$	2 784
前轴到质心距离 $l f / m$	1.66
后轴到质心距离 $l r / m$	1.45
绕z轴转动惯量 $I z / k g ? m 2$	4 293.6
前轴侧偏刚度 $C f / N ? r a d - 1$	230 000
后轴侧偏刚度 $C r / N ? r a d - 1$	210 000
前轴1阶惯性环节参数 $τ f / m s$	150
后轴1阶惯性环节参数 $τ r / m s$	80

控制器类型	$e d$ /m	$e φ$ /（°）	$e d 和 e φ$ 降低量/%
ControllerA	0.222	7.17	21.9， 26.6
ControllerB	0.205	6.64	15.7， 20.5
ControllerC	0.163	5.6

控制器类型	$e d$ /m	$e φ$ /（°）	$e d 和 e φ$ 降低量/%
ControllerA	0.224	2.01	29.9， 37.8
ControllerB	0.186	1.84	15.6， 32
ControllerC	0.157	1.25

References 10

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Research on Unbiased Full State Feedback Path Tracking Control Method for Four-Wheel Steering Vehicles for the Extreme Sideslip Scenario

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