Research on Path Planning and Tracking Control of Four-wheeled Independently Driven Electric Vehicles

黄剑龙; 王旭东; 高银; 刘瀚蔚

doi:10.13433/j.cnki.1003-8728.20240031

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Research on Path Planning and Tracking Control of Four-wheeled Independently Driven Electric Vehicles

更新时间：2026-04-23

- Research on Path Planning and Tracking Control of Four-wheeled Independently Driven Electric Vehicles
- Mechanical Science and Technology for Aerospace Engineering Vol. 45, Issue 1, Pages: 173-182(2026)
- 作者机构：
  
  1. 重庆工商大学机构机械工程学院,重庆,400067
  2. 重庆工商大学制造装备机构设计与控制重点实验室,重庆,400067
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20240031
  CLC：
- Published：2026
- 稿件说明：
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黄剑龙, 王旭东, 高银, et al. Research on Path Planning and Tracking Control of Four-wheeled Independently Driven Electric Vehicles[J]. Mechanical Science and Technology for Aerospace Engineering, 2026, 45(1): 173-182.
DOI：

黄剑龙, 王旭东, 高银, et al. Research on Path Planning and Tracking Control of Four-wheeled Independently Driven Electric Vehicles[J]. Mechanical Science and Technology for Aerospace Engineering, 2026, 45(1): 173-182. DOI： 10.13433/j.cnki.1003-8728.20240031.

摘要

针对四轮独立驱动电动汽车的实时路径规划与稳定性跟踪控制问题，基于改进的快速随机搜索树(RRT)路径规划算法与前馈/模糊比例积分微分(FPID)控制算法，提出了一种独立电驱汽车路径规划与跟踪控制的系统框架。首先，采用目标导航优化、加速优化采样及路径平滑处理等策略对传统的RRT算法进行改进，保证所规划的路径满足汽车运动学约束、无碰撞，且曲率连续；其次，在传统动力学的基础上，结合模糊控制理论与前馈控制机理，设计了一种横纵向协同控制器来跟踪所规划的参考路径，并设计跟踪稳定性评价指标；最后，进行联合仿真与实车试验，实现所设控制器对期望路径的稳定跟踪。通过不同工况的实验结果表明，该控制器在中低速下具有良好的跟踪控制效果及稳定性。

Abstract

A system framework of path planning and tracking control is proposed for the problems of real-time path planning and tracking control of four-wheel independent drive electric vehicles

based on the improved rapid-exploration random tree (RRT) path planning algorithm and feed-forward/fuzzy proportional-integral-differential (FPID) control algorithm. Firstly

the traditional RRT algorithm is improved by adopting the strategies of target navigation optimization

acceleration optimization sampling and path smoothing processing to ensure that the planned path meets the vehicle kinematics constraints

is collision-free

and has continuous curvature. Secondly

on the basis of traditional dynamics and combining the fuzzy control theory with the feedforward control mechanism

a lateral and longitudinal synergistic controller is designed to track the reference path

and a tracking stability evaluation index is presented. Finally

co-simulation and the real-vehicle tests are carried out to realize the stable tracking of the desired path by the proposed controller. The experimental results of different working conditions show that the controller has good tracking control effect and stability at low and medium speeds.

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