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March 5, 2026Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering

Stability of high-speed trajectory tracking for four-wheel steering vehicles under time-varying tire cornering stiffness

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Authors

LZLitong ZhangTZTaihu ZuoCLCongzhi Liu

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Overview

This research demonstrates a novel controller improving driving stability in four-wheel steering vehicles, indicating better performance under varying cornering stiffness.

Key Points

  • The aim is to enhance driving stability of vehicles under nonlinear cornering stiffness conditions.
  • Developed a nonlinear model predictive control (NMPC) based trajectory tracking controller.
  • Estimated axle forces using a strong tracking unscented Kalman filter (STUKF).
  • Implemented a cornering stiffness estimator using the unscented Kalman filter (UKF).
  • Conducted simulation tests with comparisons to linear quadratic regulator (LQR) and conventional model predictive control (MPC).
  • Verified performance through hardware-in-the-loop (HIL) experiments.
  • The proposed NMPC controller showed improved trajectory tracking performance.
  • Demonstrated enhanced stability under time-varying cornering stiffness.
  • Exhibited better real-time performance compared to LQR and MPC strategies.

Cite This Study

Zhang et al. (2026) studied this question.

synapsesocial.com/papers/69a91d8dd6127c7a504c0650https://doi.org/10.1177/09544070261421461
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