A steering control method for a distributed drive unmanned vehicle

By combining hierarchical sliding mode theory and the Cuckoo algorithm for coordinated control, the trajectory tracking and stability problems of distributed-drive autonomous vehicles under complex road conditions are solved, achieving efficient trajectory tracking and lateral stability, and improving the vehicle's handling stability and safety.

CN120716692BActive Publication Date: 2026-07-24JIANGNAN UNIV
View PDF 2 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
JIANGNAN UNIV
Filing Date
2025-07-15
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

Existing distributed drive autonomous vehicles have poor trajectory tracking performance and stability under complex road conditions. Traditional control methods have slow dynamic response speed and complex calculations, which cannot meet the requirements of real-time control. The four-wheel drive torque distribution method cannot achieve the optimal distribution of wheel torque, resulting in poor stability control performance.

Method used

By employing hierarchical sliding mode theory, an upper-level trajectory tracking controller and a lower-level four-wheel steering controller are constructed to work together. The optimal torque distribution is achieved by combining the Cuckoo algorithm. An adaptive approach law and an integral fast terminal sliding mode controller are designed to realize the coordinated control of trajectory tracking and lateral stability.

Benefits of technology

While ensuring trajectory tracking performance, it significantly improves the lateral stability of distributed drive autonomous vehicles, ensuring safe and reliable driving in complex road conditions, reducing lateral deviation and overshoot, and enhancing vehicle handling stability and safety.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN120716692B_ABST
    Figure CN120716692B_ABST
Patent Text Reader

Abstract

The application discloses a steering control method of a distributed driving unmanned vehicle, and relates to the technical field of vehicle steering control. The method comprises the following steps: obtaining running state parameters and reference trajectory information of the distributed driving unmanned vehicle; based on the running state parameters and the reference trajectory information, a target front wheel steering angle is generated by using an upper-layer trajectory tracking controller, the target front wheel steering angle is input into an ideal two-degree-of-freedom model, and a target lateral parameter is calculated; based on the running state parameters and the target lateral parameter, an additional yaw moment AM is generated by using a lower-layer four-wheel steering controller; an optimal torque distribution target function is constructed, and the driving torque of each wheel is calculated by using a cuckoo algorithm so that the optimal torque distribution target function reaches the minimum value, and steering control is performed. The method can effectively improve the lateral stability of the distributed driving unmanned vehicle, and guarantees the safe and reliable driving of the distributed driving unmanned vehicle.
Need to check novelty before this filing date? Find Prior Art