Adaptive path tracking for all-wheel steering heavy-duty vehicles based on model predictive control

This paper proposes a control algorithm with an adaptive adjustment strategy based on model predictive control (MPC) for all-wheel steering multi-axle vehicles. Firstly, the dynamics of a three-axle vehicle is analysed and modelled, followed by an all-wheel steering path tracking strategy. Secondly, the boundary features of road curvature radius are obtained based on various cornering manoeuvre tests under different operating conditions, which lay a foundation for steering axles switching. In addition, an adaptive adjustment strategy is developed to decide when and how to activate the steering axle according to driving conditions. Finally, simulation is conducted based on a mixed road scenario in TruckSim/Simulink, verifying that the proposed all-wheel steering strategy with an adaptive axle adjustment approach provides a higher path tracking accuracy, a better vehicle stability, and a stronger robustness compared to the front-wheel steering strategy.