Path tracking coordinated control strategy for autonomous four in-wheel-motor independent-drive vehicles with consideration of lateral stability

How to enhance and ensure the vehicle yaw/lateral stability and safety performance is a crucial and worthy research problem for the autonomous four in-wheel-motor independent-drive vehicle. In this paper, a hierarchical path tracking control strategy coordinated with the direct yaw moment control fo...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Journal of automobile engineering, 2021-03, Vol.235 (4), p.1023-1036
Hauptverfasser:	Xiang, Changle, Peng, Haonan, Wang, Weida, Li, Liang, An, Quan, Cheng, Shuo
Format:	Artikel
Sprache:	eng
Schlagworte:	Control methods Control stability Cooperative control Distributors Dynamic models Lateral stability Maneuverability Path tracking Predictive control Safety Steering Strategy Tracking control Yawing moments
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