Coordinated control of active rear wheel steering and four wheel independent driving vehicle
1. School of Automotive Engineering, Wuhan University of Technology, Wuhan，Hubei 430070，China; 2. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan，Hubei 430070，China; 3. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan， Hubei 430070， China； 4. Hubei Engineering Technology Research Center for New Energy and Intelligent Connected Vehicle， Wuhan University of Technology, Wuhan， Hubei 430070， China
Abstract：To improve the steering sensitivity of four-wheel steering vehicle at high speed and enhance the stability of four-wheel steering vehicle on low friction road, the coordinated control system of active rear wheel steering (ARS) and four-wheel torque distribution (4WTD) was designed based on the hierarchical coordinated closed-loop control strategy for ARS/4WID vehicle. The ARS controller with feedforward and feedback was designed with vehicle centroid sideslip angle as control objective. The 4WTD controller was designed with vehicle yaw rate and desired longitudinal speed as control objectives. The rule-based coordination controller was designed to distribute the working range of each sub controller reasonably. Establishing the CarSim / Simulink co-simulation platform, the designed coordinated control system was verified by simulation. The simulation results show that the designed coordinated control system can improve the performance of four-wheel steering vehicle.
付翔1,2,3,4, 杨凤举1,2,3,4, 黄斌1,2,3,4, 何宗权1,2,3,4, 裴彪1,2,3,4. 主动后轮转向四轮独立驱动车辆的协调控制[J]. 江苏大学学报（自然科学版）, 2021, 42(5): 497-505.
FU Xiang1,2,3,4, YANG Fengju1,2,3,4, HUANG Bin1,2,3,4, HE Zongquan1,2,3,4, PEI Biao1,2,3,4. Coordinated control of active rear wheel steering and four wheel independent driving vehicle[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2021, 42(5): 497-505.
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2021, Vol. 42 
