Integrated lateral control for 4WID/4WIS vehicle in high-speed condition considering the magnitude of steering

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

“…Due to outstanding maneuvering and acceleration performances, the 4WS4WD vehicles [1,2] have been received attentions from researchers and engineers in recent years. Major concerns are motion controls of these overactuated vehicles, e.g., lateral stability control [3][4][5][6][7] and autonomous path-following control [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. Vehicle lateral control systems can help the drivers to change the lanes safely or assist them in performing evasive maneuvers.…”

“…Vehicle lateral control systems can help the drivers to change the lanes safely or assist them in performing evasive maneuvers. Effective lateral control algorithms were developed in previous literatures [3][4][5][6][7]. Liang et al [3] proposed a comprehensive control method for 4WID4WIS vehicles, which integrated active steering (AS) and direct yaw moment control (DYC) systems.…”

“…In Ref. [3], the decoupling control method and penalty function were used to allocate the involvement of AS and DYC for the vehicle in the case of a slight or moderate steering. For a large steering, the handling-oriented and stability-oriented control approaches were proposed based on sideslip phase plane, which accounted for a fine trade-off between the handling and stability performances of the vehicle.…”

Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability

“…Thus, the lack of controllable input restricts the capability of path-following control in some aggressive maneuvers, where the nonlinear dynamics in tires are going to play a dominant role. 15…”

“…Thus, the lack of controllable input restricts the capability of path-following control in some aggressive maneuvers, where the nonlinear dynamics in tires are going to play a dominant role. 15 Recent years, with the development of electric drive technology, 16 four-wheel independently driving/steering (4WID/4WIS) vehicles have earned considerable attention. Since the 4WID/4WIS autonomous vehicles are over-actuated systems whose number of control actuators is eight (four steering control actuators and four driving control actuators), 17 the redundant control input can effectively enhance the availability and reliability of autonomous vehicles.…”