Vehicle posture cooperative control method based on four-wheel steering

By using the LSTM-DRL dual-network model and multi-field coupling model, combined with DRL adaptive weight control and MPC dynamic compensation actuator, the shortcomings of traditional four-wheel steering control technology in trajectory tracking, vibration suppression and energy consumption optimization are solved, and the coordinated control of vehicle attitude is realized, improving the accuracy and reliability of autonomous driving.

CN122232639APending Publication Date: 2026-06-19FUJIAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
FUJIAN UNIV OF TECH
Filing Date
2026-03-17
Publication Date
2026-06-19

AI Technical Summary

⚠Technical Problem

Traditional four-wheel steering control technology cannot simultaneously meet the requirements of trajectory tracking accuracy, vibration suppression and energy consumption optimization. It does not take into account the electromechanical coupling effect and vertical vibration caused by the hub motor UEF, and lacks an adaptive adjustment mechanism for operating conditions, resulting in a significant performance degradation when the road surface changes abruptly and the vehicle speed changes.

⚗Method used

By fusing multi-source perception data using an LSTM-DRL dual-network model, a multi-field coupled model is constructed. A DRL adaptive weighted multi-objective cooperative control strategy is designed, and combined with an MPC dynamic compensation type steer-by-wire actuator, four-wheel cooperative control is achieved. Vehicle attitude is optimized through steer-by-wire, active suspension, and power distribution.

🎯Benefits of technology

It improves trajectory tracking accuracy, vertical comfort, and energy economy, maintains stable control performance under complex working conditions, and has high execution reliability, meeting the requirements of high-precision path tracking and reliable motor operation for autonomous driving.

✦ Generated by Eureka AI based on patent content.

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Abstract

This invention discloses a vehicle attitude cooperative control method based on four-wheel steering, belonging to the field of vehicle attitude control, and includes the following steps: S1, using an LSTM-DRL dual-network model to capture the temporal dependency between road surface and vehicle state, and outputting road-vehicle state pre-aiming perception results; S2, constructing a multi-field coupling model integrating four-wheel steering dynamics, hub motor electromechanical coupling, tire-road dynamic contact, and vertical vibration; S3, designing a DRL adaptive weighted multi-objective cooperative control strategy, dynamically adjusting the weights according to multi-objective errors, and outputting four-wheel cooperative control commands; S4, constructing an MPC dynamic compensation type drive-by-wire actuator cooperative execution mechanism; S5, collecting the dynamic feedback signals of the actuators and real-time vehicle state parameters, and correcting the weights of the DRL adaptive weighted multi-objective cooperative control strategy. Using the above-mentioned vehicle attitude cooperative control method based on four-wheel steering, global optimization of vehicle attitude control is achieved.
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