Towards autonomous driving : review and perspectives on configuration and control of four-wheel independent drive/steering electric vehicles

Towards autonomous driving : review and perspectives on configuration and control of four-wheel independent drive/steering electric vehicles

In this paper, the related studies of chassis configurations and control systems for fourwheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed and discussed. Firstly, some prototypes and integrated X-by-wire modules of 4WID-4WIS EV are introduced, and the chassis configurati...

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Bibliographic Details
Main Authors: Hang, Peng, Chen, Xinbo
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2021
Subjects:
Engineering::Mechanical engineering::Motor vehicles
Autonomous Driving
Four-wheel Independent Drive
Online Access:https://hdl.handle.net/10356/152937
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Institution: Nanyang Technological University
Language: English
Description
Summary:In this paper, the related studies of chassis configurations and control systems for fourwheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed and discussed. Firstly, some prototypes and integrated X-by-wire modules of 4WID-4WIS EV are introduced, and the chassis configuration of 4WID-4WIS EV is analyzed. Then, common control models of 4WID4WIS EV, i.e., the dynamic model, kinematic model, and path tracking model, are summarized. Furthermore, the control frameworks, strategies, and algorithms of 4WID-4WIS EV are introduced and discussed, including the handling of stability control, rollover prevention control, path tracking control and active fault-tolerate control. Finally, with a view towards autonomous driving, some challenges, and perspectives for 4WID-4WIS EV are discussed.

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