Abstract
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 controller, the control allocation method is adopted to generate yaw moment via 4WS, ESC and TVD. If the front steering angle is added for generating yaw moment, the steering performance of the vehicle can be further deteriorated. This is because the magnitude of the lateral tire forces are limited and the required yaw moment is in-sufficient. Constraint is imposed on the magnitude of the front slip angles in order to prevent the lateral tire forces from saturating. The driving simulation is performed by considering the limit of the front slip angle proposed in this study. Compared to the case that uses the existing 4WS, the results of this study are derived from the actuator combination that enhances performance while maintaining stability.
| Original language | English |
|---|---|
| Article number | 6306 |
| Journal | Energies |
| Volume | 14 |
| Issue number | 19 |
| DOIs | |
| State | Published - 1 Oct 2021 |
Keywords
- 4-wheel steer
- Active front steering
- Electronic stability control
- In-wheel driving system
- Rear wheel steering
- Slip angle
- Tire force satura-tion
- Torque vectoring device
- Vehicle dynamics