Enabling Crab Driving for Rear Steering-Limited Vehicles via Coordinated Direct Yaw Moment Control and Steering Allocation
Xin Wang, Guoxiang Lu, Baoqi Ma, Fangyin Tian, Yifa Liu, Di Liu
Abstract
Crab driving has significant application potential in complex driving conditions such as maneuvering in confined spaces, high-speed lane changes, and emergency obstacle avoidance. However, its practical application is impeded by small rear-wheel steering angles in mass-production vehicles. To overcome this limitation, we propose a hierarchical control framework that coordinates direct yaw moment with front-rear wheel steering. This framework actively compensates for undesired yaw motion and ensures accurate sideslip angle tracking, thereby enabling large-angle crab driving for vehicles with limited rear steering angles. The stability of the proposed controller is theoretically analyzed via Lyapunov theory. Simulations validate the proposed method’s effectiveness and robustness, demonstrating a maximum crab driving angle of <inline-formula><tex-math notation="LaTeX">$\pm 40^{\circ }$</tex-math></inline-formula> under a strict <inline-formula><tex-math notation="LaTeX">$\pm 10^{\circ }$</tex-math></inline-formula> rear-wheel steering angle limit and confirming the method’s robustness across diverse conditions.
BibTeX
@inproceedings{ral2026_enablingcrabdriv,
title = {Enabling Crab Driving for Rear Steering-Limited Vehicles via Coordinated Direct Yaw Moment Control and Steering Allocation},
author = {Xin Wang and Guoxiang Lu and Baoqi Ma and Fangyin Tian and Yifa Liu and Di Liu},
booktitle = {RA-L 2026},
year = {2026}
}