Browse Publications Technical Papers 2019-01-0459

Development and Control of Four-Wheel Independent Driving and Modular Steering Electric Vehicles for Improved Maneuverability Limits 2019-01-0459

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.


Subscribers can view annotate, and download all of SAE's content. Learn More »


Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:

Derivation of Test Schedule for Jerk Test on Manual Gearbox Using Road Load Data


View Details


Regenerative Brake and Slip Angle Control of Electric Vehicle with In-wheel Motor and Active Front Steering


View Details


The Differential Braking Steering Control of Special Purpose Flat-Bed Electric Vehicle


View Details