Stable High-Speed Overtaking with Integrated Model Predictive and Four-Wheel Steering Control

• DOI: 10.3390/electronics14061133
• Publication Date: 2025-03-13T14:16:45Z
• Authors: Lyuchao Liao; Guangzhao Sun; Sijing Cai; Chunbo Wang; Jishi Zheng
• Keywords: Overtaking; Model Predictive Control

Autonomous vehicles are increasingly becoming a part of our daily lives, with active chassis control systems playing pivotal role and drawing significant attention from both academia industry. Current research on vehicle-to-vehicle overtaking behavior predominantly focuses low-to-moderate speeds, insufficient studies addressing high-speed lane-changing maneuvers. Under conditions, the variability complexity road environments significantly increase tracking errors, posing challenges for algorithms that perform well at lower speeds but may suffer reduced accuracy or instability higher speeds. A hybrid strategy based vehicle dynamics path is developed to ensure stability maneuverability. By integrating Model Predictive Control (MPC) Four-Wheel Steering (4WS) controllers employing two-degree-of-freedom ideal model as path-tracking response model, we have achieved effective autonomous equipped four-wheel steering. The effectiveness proposed was validated Carsim–Simulink integrated simulation platform. Experimental results demonstrate this offers than single-controller approaches under conditions while also meeting requirements. provides robust support enhancing performance steering medium-to-high thereby advancing reliability safety driving technology in practical applications.