Hierarchical MPC-based Trajectory Tracking Control for Distributed Four-wheel-drive Vehicles

doi:10.3901/JME.260142

Abstract

Abstract: With the extension of autonomous driving technology to complex scenarios, distributed drive four-wheel steering (4WID-4WIS) vehicles have become a research focus in terms of their control under extreme operating conditions due to their remarkable maneuverability. How to balance path tracking accuracy and driving stability in such scenarios remains a key challenge to be addressed. To enhance the maneuverability of 4WID-4WIS vehicles under extreme operating conditions, a hierarchical controller combining model predictive control(MPC) and proportional-integral(PI) control is proposed. First, a vehicle dynamics model based on the Frenet coordinate system is established, comprehensively considering front axle equivalent steering angle, rear axle equivalent steering angle, and additional yaw moment as control variables. Steering angle constraints based on the phase plane method are incorporated to balance vehicle stability. A hierarchical controller is designed, introducing a deceleration strategy based on centroid sideslip angle prediction to simultaneously ensure path tracking performance and stability. In the lower controller, a torque and steering angle allocation strategy is developed based on the optimal tire utilization principle, considering both tire force limits and motor constraints. This guarantees coordination among wheel steering angles and torque distribution while enhancing vehicle stability margin. Finally, the proposed control method is validated through co-simulations on Matlab/Simulink and CarSim platforms under low-adhesion road conditions. Simulation results demonstrate that the hierarchical control structure effectively improves path tracking accuracy and stability of vehicles with superior dynamic performance. Compared with traditional hierarchical MPC methods, the maximum lateral displacement error is reduced by 29.8%, average error decreases by 46.2%, and yaw rate is effectively controlled, confirming the validity of the proposed approach.

Key words: transportation engineering, four-wheel independent drive, four-wheel independent steering, hierarchical control, autonomous vehicles, trajectory tracking control

CLC Number:

TG156

XIAO Yue, HE Yi, ZHANG Ming. Hierarchical MPC-based Trajectory Tracking Control for Distributed Four-wheel-drive Vehicles[J]. Journal of Mechanical Engineering, 2026, 62(8): 475-488.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260142

http://www.cjmenet.com.cn/EN/Y2026/V62/I8/475

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