In this study, a novel 4-wheel-steering electric vehicle is proposed as an autonomous ground vehicle. It aims to study the path tracking control algorithm of the 4-wheel-steering autonomous ground vehicle for intelligent driving.. Path tracking model is built for path tracking controller design based on a single track model. Besides, the linear parameter-varying system model is constructed to make the path tracking controller adaptive to different longitudinal velocities and road friction coefficients. Furthermore, a linear quadratic regulator controller for path tracking is designed and stability analysis is carried out. To eliminate the error caused by disturbance, feedforward control is combined with a linear quadratic regulator controller. To verify the path tracking performance of the designed controller, numerical simulations are carried out based on a high-fidelity and full-vehicle model constructed in CarSim. Moreover, real road experiments are performed. Both the simulation results and experiment results show that the designed controller has good path tracking performance. In addition, the path tracking controller shows good robustness to deal with different longitudinal velocities and road friction coefficients.

中文翻译：

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基于线性变参数系统的四轮转向自主地面车辆路径跟踪控制与实验验证

在这项研究中，提出了一种新型 4 轮转向电动汽车作为自主地面车辆。旨在研究用于智能驾驶的四轮转向自主地面车辆的路径跟踪控制算法。建立路径跟踪模型用于基于单轨道模型的路径跟踪控制器设计。此外，构建了线性变参数系统模型，使路径跟踪控制器适应不同的纵向速度和道路摩擦系数。此外，设计了用于路径跟踪的线性二次调节器控制器并进行了稳定性分析。为了消除干扰引起的误差，前馈控制与线性二次调节器控制器相结合。为了验证设计控制器的路径跟踪性能，基于 CarSim 中构建的高保真整车模型进行数值模拟。此外，还进行了真实的道路实验。仿真结果和实验结果均表明所设计的控制器具有良好的路径跟踪性能。此外，路径跟踪控制器在处理不同的纵向速度和道路摩擦系数方面表现出良好的鲁棒性。