This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Development and Control of Four-Wheel Independent Driving and Modular Steering Electric Vehicles for Improved Maneuverability Limits
Technical Paper
2019-01-0459
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
Electric vehicles are capable of more flexible drivetrain configurations, such that driving dynamics of each wheel could be controlled independently to increase its stability and maneuverability bounds. We hereby propose a configuration consisting of four wheel independent driving and front and rear axle modular steering. The vehicle implements drive-by-wire technology, which means the control program running on vehicle control computer will have direct control authority of the vehicle under normal driving conditions, based on inputs of higher level systems such as human drivers and autonomous driving programs. Both the torque allocation on four wheels and the steering allocation on axles are completely independent on the mechanical hardware level, thus the vehicle is able to harness adverse contact conditions with confidence. A slip-aware model-free control method for torque allocation and steering is proposed and inspected in the paper, with digital model of a modified SUV simulated for validation, and the vehicle responses with and without such controller are compared to elaborate its strengths. Such control method has more safety margin under close-to-limits driving conditions with presence of tire slip. The control method along with drive-by-wire features also enhance driving safety by correcting excessive inputs by human drivers. Additionally, a comprehensive index reflecting the stability and maneuverability of the vehicle is also introduced and based on which a model-based controller is designed and compared.
Recommended Content
Authors
Citation
Yang, H., Liu, C., Shi, J., and Zheng, G., "Development and Control of Four-Wheel Independent Driving and Modular Steering Electric Vehicles for Improved Maneuverability Limits," SAE Technical Paper 2019-01-0459, 2019, https://doi.org/10.4271/2019-01-0459.Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 |
Also In
References
- Crolla , D. and Cao , D. The Impact of Hybrid and Electric Powertrains on Vehicle Dynamics, Control Systems and Energy Regeneration Vehicle System Dynamics 50 sup1 95 109 2012
- Knauder , B. et al. Electric Torque Vectoring for Electric Vehicles Atzelektronik Worldwide 9 4 50 55 2014
- Mohd Zainal Abidin , N.H. , Imamori , S. , and Alexander , A. Development of High Efficiency Next-Generation SH-AWD Rear Drive Unit SAE Technical Paper 2015-01-1098 2015 10.4271/2015-01-1098
- Furukawa , Y. et al. A Review of Four-Wheel Steering Studies from the Viewpoint of Vehicle Dynamics and Control Vehicle System Dynamics 18 1-3 151 186 1989 10.1080/00423118908968917
- Sano , S. , Furukawa , Y. , and Shiraishi , S. Four Wheel Steering System with Rear Wheel Steer Angle Controlled as a Function of Steering Wheel Angle SAE Technical Paper 860625 1986 10.4271/860625
- Borronibird , C.E . et al. 2015
- Abe , M. Vehicle Dynamics and Control for Improving Handling and Active Safety: From Four-Wheel Steering to Direct Yaw Moment Control Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-Body Dynamics 213 2 87 101 1999 10.1243/1464419991544081
- Shibahata , Y. Progress and Future Direction of Chassis Control Technology Annual Reviews in Control 29 1 151 158 2005 10.1016/j.arcontrol. 2004.12.004
- Chen , Y. and Wang , J. Energy-Efficient Control Allocation with Applications on Planar Motion Control of Electric Ground Vehicles Proceedings of the 2011 American Control Conference June 2011 2719 2724 10.1109/ACC.2011.5991160
- Kissai , M. , Monsuez , B. , and Tapus , A. Review of Integrated Vehicle Dynamics Control Architectures 2017 European Conference on Mobile Robots (ECMR) Sept. 2017 1 8 10.1109/ECMR. 2017.8098687 .
- Ivanov , V. , Savitski , D. , and Shyrokau , B. A Survey of Traction Control and Antilock Braking Systems of Full Electric Vehicles with Individually Controlled Electric Motors IEEE Transactions on Vehicular Technology 64 9 3878 3896 2015
- Novellis , L.D. , Sorniotti , A. , and Gruber , P. Design and Comparison of the Handling Performance of Different Electric Vehicle Layouts Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 228 2 218 232 2014 10.1177/0 95 4407013506569
- Lam , T.L. , Qian , H. , and Xu , Y. Omnidirectional Steering Interface and Control for a Four-Wheel Independent Steering Vehicle IEEE/ASME Transactions on Mechatronics 15 3 329 338 2010 10.1109/TMECH.2009.2024938
- Juyong , K. , Kyongsu , Y. , and Hyundong , H. Control Allocation Based Optimal Torque Vectoring for 4WD Electric Vehicle SAE Technical Paper 2012-01-0246 2012 10.4271/2012-01-0246
- Fahimi , F. Full Drive-by-Wire Dynamic Control for Four-Wheel-Steer All-Wheel-Drive Vehicles Vehicle System Dynamics 51 3 360 376 2013 10.1080/00423114.2012.743668
- Bin , L. et al. An Optimal Torque Distribution Control Strategy for Four-Independent Wheel Drive Electric Vehicles Vehicle System Dynamics 53 8 1172 1189 2015
- Acosta , M. , Kanarachos , S. , and Blundell , M. Virtual Tyre Force Sensors: An Overview of Tyre Model-Based and Tyre Modelless State Estimation Techniques Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 1 47 2017 10.1177/0954407017728198
- Fliess , M. and Join , C. Model-Free Control International Journal of Control 86 2228 2252 2013 10.1080/00207179.2013.810345
- Pacejka , H.B. and Bakker , E. The Magic Formula TYRE Model Vehicle System Dynamics 21 1 18 1992
- Cui , Y. , Lane , J.T. , and Voyles , R.M. Real-Time Software Module Design Framework for Building Self-Adaptive Robotic Systems 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Sept. 2015 2597 2602 10.1109/IROS.2015.7353731