Lateral Stability Control for Four Independent Wheel Vehicles Considering the Surrounding Condition

Lateral Stability Control for Four Independent Wheel Vehicles Considering the Surrounding Condition

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연구 분야: Verification

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학회: International Conference on Industrial Engineering and Applications

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초록

During the steering manoeuvre, due to the variations such as vehicle parameters, speed and tire grip, vehicles may undergo understeer or oversteer, which may lead to vehicle deviation from expected path and lose of control, greatly threatening passengers’ safety. Therefore, this paper proposes a coordinated control method for the lateral stability of four wheel independent steering vehicles with the surrounding condition considered, which could be adaptable to the surrounding environment and has excellent control performance. Firstly, a four independent wheel vehicle model combining longitudinal and lateral force is established. Secondly, a LQR controller with its parameters adjustable according to the surrounding condition is designed. Finally, the effectiveness of the control algorithm is verified via simulation.

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