Abstract: To enhance the low-speed maneuverability and high-speed stability of an 8×8 all-terrain unmanned vehicle, this paper proposes a hybrid steering control method that combines wirecontrolled Ackermann steering with in-wheel motor differential steering. Based on the upper-layer reference speed, curvature, and required steering characteristics, the method calculates the reference yaw rate of the vehicle. It then derives the required front wheel angle and required feedforward differential torque by integrating with the vehicle dynamics model. Meanwhile, considering the yaw rate tracking error and motor torque constraints at high speeds, a yaw rate tracking strategy based on the feedback of in-wheel motor differential torque is designed. Vehicle test verification shows that compared with traditional differential steering control, this hybrid strategy exhibits superior yaw rate tracking performance in both low-speed small-radius turns and high-speed path tracking, effectively achieving the dual improvement of the vehicle's low-speed maneuverability and high-speed stability.

Key words: all-terrain unmanned vehicle; hybrid steering; yaw rate tracking

摘要： 为提升 8×8 全地形无人车的低速机动性与高速稳定性，文章提出线控阿克曼转向与轮 边电机差速转向相结合的混合转向控制方法。该方法基于上层参考车速、曲率及需求转向特 性，计算车辆参考横摆角速度，再结合车辆动力学模型得出需求前轮转角与需求前馈差动力 矩，同时结合横摆角速度跟踪误差及高速下电机扭矩约束，设计基于轮边电机差动力矩反馈 的横摆角速度跟踪策略。实车验证表明，与传统差速转向控制相比，此混合策略在低速小半 径转弯和高速路径跟踪中，均展现出更优的横摆角速度跟踪能力，有效实现了车辆低速机动 性与高速稳定性的双重提升。

关键词: 全地形无人车；混合转向；横摆角速度跟踪