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July 15, 2026SensorsOpen Access

High-Performance Path Tracking of a 4WD Autonomous Vehicle Using NMPC with Virtual 4WD Torque Distribution

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Authors

DVDuc VuCCChih‐Keng ChenJRJiageng Ruan

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Overview

Randomized trial evaluates path tracking in a 4WD vehicle, indicating optimal torque distribution enhances performance.

Key Points

  • The aim is to develop a reduced-complexity NMPC framework for enhancing path tracking in a 4WD autonomous vehicle.
  • Utilized a 4WD sports car with independent wheel motors for testing.
  • Implemented trajectory optimization for reference racing line and velocity profile.
  • Applied NMPC for real-time control of steering and rear wheel torques based on virtual torque distribution.
  • Average lap time reduced by approximately 10.3% from 182.08s to 163.30s with increased torque distribution gain Kr.
  • Maximum lateral tracking error maintained below 0.33m, and maximum heading-angle error below 2.95 degrees for stable configurations.
  • Increased torque beyond Kr of 0.5 led to degraded tracking performance and stability issues.

Cite This Study

Vu et al. (2026) studied this question.

synapsesocial.com/papers/6a5722be88b21df87547fb28https://doi.org/10.3390/s26144442
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