四轮转向智能车辆平移换道舒适性研究OA

To address the poor ride comfort in four-wheel steering intelligent vehicles during lane-changing maneuvers,this paper proposes a lateral translation-based lane-changing control method.Based on a constant yaw-rate preview control and a model predictive control(MPC)algorithm,it coordinates the front and rear wheel steering angles to maintain the stability of the vehicle's heading direction during lane changes.To validate the effectiveness of this control strategy,a co-simulation platform integrating CarSim and Matlab/Simulink is built and a single lane-change scenario is configured.On this platform,two driving scenarios,namely straight and curved lane-changing maneuvers are investigated.Simulation results demonstrate the proposed method markedly reduces the vehicle's lateral acceleration and yaw rate compared with conventional lane-changing strategies.Meanwhile,it achieves smoother lateral acceleration profiles,effectively enhancing vehicles'ride comfort.