Journal
ACTUATORS
Volume 10, Issue 8, Pages -Publisher
MDPI
DOI: 10.3390/act10080184
Keywords
autonomous driving; four-wheel independent drive; four-wheel independent steering; path tracking; handling stability; active safety control; electric vehicle
Funding
- National Key R&D Program of China [2018YFB0104802]
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This paper reviews and discusses the related studies of chassis configurations and control systems for four-wheel independent drive/steering electric vehicles (4WID-4WIS EV), including control models, frameworks, strategies, and challenges for autonomous driving perspectives.
In this paper, the related studies of chassis configurations and control systems for four-wheel 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 4WID-4WIS 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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