This study investigates a control strategy for torque vectoring (TV) and active rear wheel steering (RWS) using feedforward and feedback control schemes for different circumstances. A comprehensive vehicle and combined slip tire model are used to det...
To further enhance the precision and the adaptability of path tracking control, and considering that most of the research is focused on front-wheel steering, an adaptive parametric model predictive control (MPC) was proposed for rear-wheel-steering a...
Various driving assistance systems have been developed to reduce the number of automobile accidents. However, the control laws of these assistance systems differ based on each situation, and the discontinuous control command value may be input instan...
This study proposes a driver monitoring and active rear-wheel assist steering control scheme integrating Model Predictive Control (MPC) and Recursive Least Squares (RLS) to enhance path-following precision and facilitate seamless control authority di...
In the automotive field, with the advancement of electronic and signal processing technologies, active control-based chassis systems have been developed to enhance vehicle stability. In this study, a Hardware-in-the-Loop (HiL) simulation environment...
With the aggravation of the energy crisis and environmental problems, the new energy electric vehicle industry has ushered in vigorous development. However, with the continuous increase in car ownership, traffic accidents and other issues have gradua...
This paper presents the integrated motion control method for an electric vehicle (EV) equipped with a front/rear steer-by-wire (SbW) system and four in-wheel motor (IWM). The proposed integrated motion control method aims to maintain stable cornering...
Autonomous driving solutions for agricultural machinery have advanced rapidly; however, large-wheeled harvesters present unique challenges compared to traditional vehicles. Specifically, the 5.4 m cutting width, 9.2 m minimum turning diameter, and re...
To enhance vehicle maneuverability and stability, a controller with 4-wheel steering (4WS), electronic stability control (ESC) and a torque vectoring device (TVD) under constraint on the front slip angles is designed in this research. In the controll...
In this paper, a hierarchical adaptive control strategy is proposed to enhance the handling stability of distributed drive electric vehicles. In this strategy, the upper-level fuzzy controller calculates the additional yaw moment and rear wheel angle...
The synchronization error of the left and right steering-wheel-angles and the disturbances rejection of the synchronization controller are of great significance for the active rear axle independent steering (ARIS) system under complex driving conditi...
To improve the comprehensive performance of the distributed wheel-side four-wheel-drive electric bus, the problem of optimal distribution of the driving torque of the four wheel-side motors is studied. Aiming at the poor economy and failure of switch...
This study proposes a reduced-complexity nonlinear model predictive control (NMPC) framework for high-performance path tracking of a four-wheel-drive (4WD) autonomous vehicle. A 4WD sports car equipped with four independent wheel motors is used as th...
The recent advancementsin autonomous driving technology have led to an increased utilization of mobile robots across various industries. Notably, four-wheel steering robots have gained significant attention due to their robustness and agile maneuveri...
In addressing the limitations of traditional steering stability control strategies applied to distributed-drive electric vehicles (DDEVs)—which primarily focus on measuring yaw rate and sideslip angle and may result in loss of control during st...
The four-wheel steering distributed drive vehicle is a novel type of vehicle with independent control over the four-wheel angle and wheel torque. A method for jointly controlling the distribution of the wheel angle and torque is proposed based on thi...
This paper evaluates the effect of rear-wheel drive configurations on the three-marker path deviation of an Ackermann-steered mobile robot. The study uses a Webots simulation and a physical prototype. The platform is developed as a service robot for...
Distributed drive electric vehicles (DDEVs) offer remarkable advantages in handling stability owing to the independent torque and steering control of each wheel. Traditional in-dependent strategies have the disadvantages of slow response speed and un...
This paper describes a driving torque distribution method for front–and-rear-wheel-independent-drivetype electric vehicles (FRID EVs) in which it is possible to get stable steering on a low friction coefficient road surface. This method is characteri...
Path tracking is a key technique for intelligent electric vehicles, while four-wheel steering (4WS) technology is of great significance to improve its accuracy and flexibility. However, the control methods commonly used in path tracking for a 4WS veh...
A new type of hierarchical control is proposed for a four-wheel-steering (4WS) vehicle, in which both the sideslip angle and yaw rate feedback are used, and the saturation of the control variables (i.e., the front and rear steering angles) is conside...
The modern world industry involves the use of innovative approaches and optimisations of the existing agricultural management methods, which contribute to the implementation of the sustainable development of related industries and economies of differ...
To address the poor stability of four-wheel steering vehicles under extreme conditions, this paper proposes a coordinated control strategy for vehicles with four-wheel independent drive. The strategy combines the Active Four-Wheel Steering system wit...
This study employs four metaheuristic optimization methods to optimize the dimensional synthesis of Ackermann steering mechanisms for three-axle, six-wheeled vehicles with front-axle steering mode and reverse-phase steering mode. The employed optimiz...
The frame structure of the trailer may influence both the traction and the tractor-trailer stability, especially along sloped paths. The aim of this research was to analyze a trailer overturning and the strains on the connected tractors (wheeled, or...
With the increasing demand for various autonomous driving services in urban environments, low-speed autonomous vehicles, such as autonomous shuttles and purpose-built vehicles, equipped with enhanced driving characteristics suitable for urban roads f...
To address the challenge of optimizing system adaptability, disturbance rejection, control precision, and convergence speed simultaneously in four-wheel steering (4WS) stability control, a 4WS controller with a variable steering ratio (VSR) strategy...
Distributed drive electric vehicles (DDEV), characterized by their independently drivable wheels, offer significant advantages in terms of vehicle handling, stability, and energy efficiency. These attributes collectively contribute to enhancing drivi...
This paper presents a comparative study on the effects of the input configurations of linear quadratic (LQ) controllers on path tracking performance under low friction conditions. For the last decade, the path tracking controller has adopted several...
This article presents the instrumentation of an electronic–mechanical differential prototype, consisting of an arrangement of three throttles to operate two hub motors on the rear wheels of an electric vehicle. Each motor is connected to its re...
This paper focuses on the development, theoretical and experimental research on the structural units of an unconventional three-wheeled vehicle. The vehicle is designed in order to increase the stability when cornering in a low curvature radius. Curr...
Generally, In-Wheel motor system consists of suspension, steering, electric motor, friction brake, and wheel and varies with the combination structure of each component. However, the key point of In-Wheel motor system to be applied in small electric...
This article presents a design and performance analysis of an Electronic Differential (ED) system designed for Light Electric Vehicles (LEVs). We have developed a test tricycle vehicle with one front steering wheel and two rear fixed units in the sam...
Speed information is crucial for controlling distributed electric-drive loaders, especially for driving and operation. Due to complex working conditions, the wheels of the loader often experience different conditions, leading to inaccurate speed esti...
To address the issue of limited accuracy in vehicle lateral and longitudinal dynamics control—caused by the strong coupling and nonlinearity between the four-wheel steering and distributed drive systems, particularly under crosswind disturbance...
This paper describes control methods to improve electric vehicle performance in terms of handling, stability and cornering by adjusting the weight distribution and implementing control systems (e.g., wheel slip control, and yaw rate control). The veh...
This paper presents a method for designing a static output feedback integrated path tracking controller for autonomous vehicles. For path tracking, state–space model-based control methods, such as linear quadratic regulator, H∞ control, s...
In this work, an analytical method for finding the equilibrium configuration of the suspension systems used for the non-steered (usually rear) wheels of the passenger car is proposed. This study is based on the static model, which takes into account...
The integrated longitudinal and lateral dynamic motion control is important for four wheel independent drive (4WID) electric vehicles. Under critical driving conditions, direct yaw moment control (DYC) has been proved as effective for vehicle handlin...
Due to the negative impact of chemical inter-row weed control on the environment, mechanical weed control is increasingly used in practice. Machine-tractor units (MTU) are used with the row cultivator’s rear and frontal central position for its...
This paper presents the research, development, and functional validation of an original rear suspension system designed for hybrid reverse trike vehicles (two guided wheels on the front axle and a twin-tire-driven assembly at the rear). Conventional...
In order to solve the problem that electric forklifts are prone to rollover when turning, a coordinated control strategy for anti-rollover of electric forklifts is proposed. A forklift dynamics simulation model with integrated centroid position is co...
Steering has more potential than braking to prevent rear-end collisions at higher relative velocities. A path tracking controller based on multi-input multi-output (MIMO) model predictive control (MPC) is proposed to enhance the handling performance...
Single-wheel brake failure in electromechanical brake (EMB) systems breaks the left-right symmetry of wheel forces and yaw moments, creating a critical conflict between emergency braking effectiveness and lateral stability. To address this symmetry-b...
To improve the stability and safety of electric vehicles during medium-to-high-speed cornering, this paper investigates torque differential control for dual rear-wheel hub motor drive systems, extending beyond traditional speed control based on the A...
Functional safety in a four-wheel steering system is critical for smart vehicles, especially under steer-by-wire configurations where conventional methods fail to achieve 100% safety. In this study, we developed a hybrid AI-based fail-safe control fr...
Path tracking is an important component of autonomous driving and most current path tracking research is based on different positioning sensors, such as GPS, cameras, and LIDAR. However, in certain extreme cases (e.g., in tunnels or indoor parking lo...
To address the insufficient control accuracy of traditional vehicle stability control methods under nonlinear conditions, this paper proposes a combined stability control strategy for distributed-drive electric vehicles based on the phase plane metho...
Multi-axle vehicles are commonly used for heavy-duty special operations, which easily leads to high driving torque demands when adopting distributed electric drive configurations. This study achieves the objective of reducing the driving torque of ea...
In this paper, a greenhouse tomato picking robot chassis that meets the path cruising and setpoint positioning requirements of robots engaged in greenhouse tomato picking operations in China is designed. Based on the trellis-cultivation growing envir...
of 2