Research on Trajectory Tracking and Stability of Four-Wheel Steering Distributed Drive Vehicle

To increase the stability of vehicle trajectory tracking under driving situations such as high speed and low adhesion, a four-wheel steering stability control approach based on the distributed drive characteristics of four-wheel steering is presented. The front wheel steering controller is built by model predictive control algorithm to realize real-time tracking of vehicle trajectory. The sliding mode variable structure control theory is used to design the rear wheel angle and extra yaw moment. Finally, the torque distribution is realized based on the optimal distribution method of maximizing the tire stability margin. The co-simulation results show that compared with the front wheel steering stability control under high speed and low adhesion driving conditions, the lateral deviation is maintained between -0.05 m and 0.05 m. and the sideslip angle and yaw rate are reduced by 45.0 % and 23.9 % respectively, which improves the tracking accuracy of the vehicle and meets the stability requirements of the vehicle under dangerous conditions.