Enhance Vehicle Stability for Path Tracking of a 4WS Vehicle Based on Model Predictive Control

This paper introduces a dynamic stability region for four-wheel steering vehicles driving at high speeds to enhance vehicle stability during path tracking. The proposed model predictive controller based on a 3-DOF vehicle dynamic model converts vehicle speed-based dynamic stability region into constraints on vehicle states. The controller's effectiveness is validated through simulations on a double lane-change path. Simulation results in CarSim-Simulink environment demonstrate that the controller can effectively enhance vehicle stability without compromising path tracking performance.