wang, kang (Southeast University), Wang, Yanlin (Southeast University), zhang, xiangwei (Southeast University), Cheng, Kun (Tsinghua university), Li, Bingbing (Southeast University), Zhuang, Weichao (Southeast University), Yin, Guodong (Southeast University)

Compass Steering Control with Minimum Displacement Error for Enhanced Maneuverability and Safety in Narrow Spaces

Scheduled for presentation during the Regular Session "S41a-Motion Planning, Trajectory Optimization, and Control for Autonomous Vehicles" (FR-LM-T41), Friday, November 21, 2025, 10:30−10:50, Broadbeach 1&2

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

The ability of vehicles to maneuver through constrained road environments is vital for optimizing traffic capacity. However, the precision of vehicle motion under such conditions has received limited attention in existing research. To address this issue, a compass steering control strategy that minimizes displacement error is proposed. A dynamic model is first established, and four representative compass steering modes are identified. Based on this, the dynamic mechanism of compass steering is analyzed, and a control strategy is developed to reduce displacement error. The motion states of all four wheels under each steering mode are further examined. By applying the theory of combined-slip conditions, longitudinal and lateral tire forces are decoupled to define the optimization objectives and constraints of the control strategy. The resulting nonlinear optimization problem is then converted into a quadratic programming problem to facilitate efficient computation. Simulation results confirm that the proposed control strategy effectively minimizes displacement error, enhances vehicle maneuverability, and ensures motion safety in narrow spaces.