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With the modernization of agriculture, the application of unmanned agricultural special vehicles is becoming increasingly widespread, which helps to improve agricultural production efficiency and reduce labor. Vehicle path-tracking control is an important link in achieving intelligent driving of vehicles. This paper designs a controller that combines path tracking with vehicle lateral stability for four-wheel steer/drive agricultural special electric vehicles. First, based on a simplified three-degrees-of-freedom vehicle dynamics model, a model predictive control (MPC) controller is used to calculate the front and rear axle angles. Then, according to the Ackermann steering principle, the four-wheel independent angles are calculated using the front and rear axle angles to achieve tracking of the target trajectory.

Now Available from SAE International, SAE OnQue is a revolutionary digital standards solution that optimizes the way automotive and aerospace engineers access standards.

digital standards systems an integrated approach to engineering standards usage

From SAE International, SAE MobilityRxiv is a free online preprint server and sharing service for English-language preprints in the mobility/transportation field