Differential steering-based electric vehicle lateral dynamics control with rollover consideration

Abstract

This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

Longitudinal and lateral control of autonomous vehicles in multi‐vehicle driving environments

“…However, in previous related literature, vehicle dynamics safety, collision avoidance and driver preference have seldom been investigated. In addition, path‐following control could seldom overcome the longitudinal and lateral control issue through active front steering [36] and direct yaw control (DYC) based on differential in‐wheel motor torque control [37]. In this work, under the hierarchical design framework, a novel longitudinal and lateral control of AVs is proposed to satisfy a wide range of lane change manoeuvres in multi‐vehicle driving environments.…”

Autonomous vehicle path tracking control considering the stability under lane change

“…The path tracking issue used front steering as control input and the direct yawing control was used to avoid instability under extreme conditions. Jing et al 12 employ the H observer-based schema for differential steering control with rollover consideration. The control object is to achieve the yaw rate tracking by differential steering and minimize the rollover risk.…”

Four-Wheel Differential Steering Control of IWM Driven EVs

“…Up to now, there are three functions of the DSS: (1) Steering the vehicle without the lateral turning of the wheel, that is, the skid steering [3,4]; (2) Assisting the driver to steer the vehicle and reducing the driver's load, i.e., the differential drive assisted steering (DDAS) [5][6][7][8]; (3) Steering the vehicle in case of the failure [9][10][11][12][13][14][15] or instead of the regular steering system [16][17][18]. Among them, the literatures [9][10][11][12][13][14][15][16] are most related to this study.…”

“…To ensure the efficiency of the DSS, vehicle rollover prevention was considered to balance the vertical load of the two-side wheels. And the H ∞ observer-based feedback control strategy was employed to handle the measurement problem of the reference front wheel steering angle and lateral velocity [14]. When the active-steering motor completely failed, the DSS generated by the differential moment between the front wheels was used to steer the vehicle.…”

“…In summary, literatures [9][10][11][12][13][14][15] only used the DSS as the emergency or spare steering system once the regular steering systems failed, furthermore they utilized only front wheel as the sole steering input. In fact, the DSS can also be served as a unique steering system and can even be extended to the four-wheel steering.…”