Path Tracking Predictive Control of Four-wheel Independent Steering Electric Vehicle

Abstract:

Four-wheel independent steering (4WIS) electric vehicle adopts the strategy of simultaneous steering of front and rear wheels; in this paper the dynamic model of the 4WIS electric vehicle is established, and the relevant state space expression is obtained, then the linear time-varying path tracking prediction model is derived. Control algorithm is transformed into standard quadratic programming problem based on model predictive control theory, combined with constraint conditions and optimization objective function. The 4WIS path tracking controller is designed. Then the Matlab/Carsim joint simulation platform is used to carry out the simulation test under double shift line conditions. Finally, the robustness of the control algorithm to speed and road conditions is verified, and the influence of controller parameters on the realtime performance of the algorithm is analyzed.