Automatic path-tracking controller of a four-wheel steering vehicle

Hiraoka, Toshihiro; Nishihara, Osamu; Kumamoto, Hiromitsu

doi:10.1080/00423110802545919

Cited by 102 publications

(55 citation statements)

References 14 publications

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“…Then we build the four-wheel trajectory model to estimate the four wheels' theoretical velocity under steering condition (Dai et al 2004& Toshihiro 2009). The theoretical velocity is an important parameter in revise method raising in this passage.…”

Section: Niclas Persson From Department Of Electricalmentioning

confidence: 99%

Monitoring Method of Indirect TPMS Under Steering Situation

Wang¹,

Zhang²,

Yao³

et al. 2017

dtetr

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Section: Niclas Persson From Department Of Electricalmentioning

confidence: 99%

Monitoring Method of Indirect TPMS Under Steering Situation

Wang¹,

Zhang²,

Yao³

et al. 2017

dtetr

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“…4 However, the 4WS control system becomes less effective when the vehicle dynamics show nonlinear characteristics. 5 Therefore, in order to overcome this drawback, a corrective yaw moment is used to compensate the drawback under such situation.…”

Section: Introductionmentioning

confidence: 99%

Vehicle handling and stability control by the cooperative control of 4WS and DYC

Shen

Tan

2017

Mod. Phys. Lett. B

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This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

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“…It generated a desired vehicle-turning radius based on the vehicle's current position and orientation relative to the position of a point ahead on the planned path and the desired orientation along the path at that point. Hiraoka et al [13] proposed a path-tracking controller for a 4WS vehicle based on the sliding mode control theory which exhibited good path-tracking capability and robustness against cornering-power perturbations. Several papers designed lateral control systems for path tracking; for example, Byrne et al [14] designed a model reference adaptive controller for vehicle path tracking.…”

Section: Introductionmentioning

confidence: 99%

Additional Yaw Moment Control of a 4WIS and 4WID Agricultural Data Acquisition Vehicle

Jiang

Wang

et al. 2015

International Journal of Advanced Robotic Systems

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A four-wheel independent steering (4WIS) and a fourwheel independent driving (4WID) agricultural data acquisition vehicle (ADAV) system was designed to monitor and manage the growing status of bio-energy crops. To avoid destroying crops, a changeable wheel gauge and high-clearance design was employed, which brought new problems to the ADAV system: reduced pathfollowing precision and driving stability. Given the dynamic characteristics of the ADAV system, an additional yaw moment control (AYC) system was designed to achieve high path-following precision and stability of the ADAV system. Using the input steering wheel angle and driving speed, the desired yaw rate and sideslip angle were calculated. The difference between the desired and actual yaw rate and that between the desired and actual sideslip angle were employed as feedbacks to obtain an additional yaw moment executed on the ADAV system in real time. The effectiveness of the AYC system was verified in field tests. Experimental results show that the actual yaw rate, sideslip angle and path trajectory were close to the desired ones. Therefore, the stability and path-following accuracy of the ADAV system were improved.

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Automatic path-tracking controller of a four-wheel steering vehicle

Cited by 102 publications

References 14 publications

Monitoring Method of Indirect TPMS Under Steering Situation

Monitoring Method of Indirect TPMS Under Steering Situation

Vehicle handling and stability control by the cooperative control of 4WS and DYC

Additional Yaw Moment Control of a 4WIS and 4WID Agricultural Data Acquisition Vehicle

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