Multi-Modal Emergency Obstacle Avoidance Planning and Tracking Control for Four-Wheel Steering Vehicles

TY - JOUR

T1 - Multi-Modal Emergency Obstacle Avoidance Planning and Tracking Control for Four-Wheel Steering Vehicles

AU - Xu, Bin

AU - Li, Xiaolong

AU - Xu, Tao

AU - Tang, Shouxing

N1 - Publisher Copyright: © 2026, Beijing Institute of Technology. All rights reserved.

PY - 2026

Y1 - 2026

N2 - To enhance active safety in four-wheel steering (4WS) vehicles during emergency obstacle avoidance, a planning and tracking control method incorporating multi-modal motion features was proposed. A motion primitive library was constructed by integrating the kinematic characteristics of both oblique moving and conventional 4WS modes. An improved Hybrid A* algorithm was employed to perform multi-modal composite search within the state space. A multi-objective cost function was used to generate the optimal avoidance path. A model predictive tracking controller was designed based on a vehicle dynamics model. Smooth modal transitions were ensured via constrained optimization. Co-simulations with CarSim and Matlab/Simulink showed that, the proposed multi-modal method reduces required avoidance space and time, suppresses sideslip angle, and improves both the safety and stability of the vehicle under varying road adhesion conditions.

AB - To enhance active safety in four-wheel steering (4WS) vehicles during emergency obstacle avoidance, a planning and tracking control method incorporating multi-modal motion features was proposed. A motion primitive library was constructed by integrating the kinematic characteristics of both oblique moving and conventional 4WS modes. An improved Hybrid A* algorithm was employed to perform multi-modal composite search within the state space. A multi-objective cost function was used to generate the optimal avoidance path. A model predictive tracking controller was designed based on a vehicle dynamics model. Smooth modal transitions were ensured via constrained optimization. Co-simulations with CarSim and Matlab/Simulink showed that, the proposed multi-modal method reduces required avoidance space and time, suppresses sideslip angle, and improves both the safety and stability of the vehicle under varying road adhesion conditions.

KW - four-wheel steering vehicle

KW - improved Hybrid A

KW - multi-modal emergency obstacle avoidance planning

KW - oblique moving

KW - tracking control

UR - https://www.scopus.com/pages/publications/105027334610

U2 - 10.15918/j.tbit1001-0645.2025.111

DO - 10.15918/j.tbit1001-0645.2025.111

M3 - Article

AN - SCOPUS:105027334610

SN - 1001-0645

VL - 46

SP - 73

EP - 81

JO - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology

JF - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology

IS - 1

ER -