Four-wheel independent actuated vehicles (FWIAVs) have the advantages of strong stability and high flexibility, and they are at the forefront of current research. However, current studies have not considered the characteristics of FWIAV and the coupling effect between vehicle path planning and tracking control, lacking research on optimal planning theory for FWIAV reference state quantities under different working conditions, which is very detrimental to the safety of vehicle travel. To solve this problem, the core lies in clarifying the evolution mechanism of unsaturated tire forces on the front and rear axles. The solution and innovation of this paper is to propose a set of lateral maneuver state control law suitable for FWIAV, to coordinate the distribution of tire forces on the front and rear axles, and to achieve collaborative control of vehicle trajectory and attitude, enhancing the driving safety of FWIAV. We demonstrated through three sets of experiments that the state control law can suppress tire forces reaching the limit, prevent the vehicle from losing control under extreme conditions, and enhance the safety of vehicle travel. The significance of this paper’s research is to provide a basis for the steering angle distribution and state planning of FWIAV vehicles, improving the safety of FWIAV.


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    Title :

    Optimal Control Reference Quantity Generation Law for Four-Wheel Independently Actuated Vehicle


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wong, Pak Kin (editor) / Xu, Jun (editor) / Liu, Jubiao (author) / Li, Lin (author) / Lin, Shuyun (author) / Wang, Jianguo (author) / Guo, Desheng (author)

    Conference:

    International Conference on Electric Vehicle and Vehicle Engineering ; 2024 ; Zhuhai, China December 20, 2024 - December 22, 2024



    Publication date :

    2025-07-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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