An Optimal Hierarchical Control Strategy for 4WS-4WD Vehicles Using Nonlinear Model Predictive Control
Xuan Xu,
Kang Wang,
Qiongqiong Li
et al.
Abstract:Advanced driving algorithms, control strategies, and their optimization in self-driving vehicles in various scenarios are hotspots in current research; 4WS-4WD (four-wheel steering and four-wheel drive) is another hotspot in the study of new concept models; and the nonlinear dynamic characteristics of self-driving vehicles (AVs) are prominent in the fast cornering mode, which leads to a significant reduction in the accuracy and stability of trajectory tracking. Based on these research backgrounds, this paper p… Show more
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