Coordinated control of differential drive assisted steering system with vehicle stability enhancement system

Author

Wang, Junnian ; Wang, Qingnian ; Song, Chuanxue ; Chu, Liang ; Wang, Yingying

Author_Institution

State Key Lab. of Automotive Simulation & Control, Jilin Univ., Changchun, China

fYear

2011

fDate

5-9 June 2011

Firstpage

1148

Lastpage

1155

Abstract

Drive torque coordinated control for four wheel independent-drive electric vehicle with differential drive assisted steering system (DDAS) is presented in this paper. Firstly, the technical detail of DDAS system is reviewed. Then a structure composed of two layers coordinating control loop is proposed. Moreover, the control algorithm of each layer is introduced. At last, the simulations of parking at stand still and double-lane-change maneuvering in several different adhesion conditions are performed. The simulation results show that the coordinating control system can ensure the DDAS system to work correctly and correct the bad influence of DDAS system on vehicle stability.

Keywords

electric vehicles; mechanical stability; position control; steering systems; torque control; vehicle dynamics; DDAS; differential drive assisted steering system; double-lane-change maneuvering; drive torque coordinated control; four wheel independent-drive electric vehicle; two layers coordinating control loop; vehicle stability enhancement system; Force; Stability analysis; Tires; Torque; Traction motors; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2011 IEEE

Conference_Location

Baden-Baden

ISSN

1931-0587

Print_ISBN

978-1-4577-0890-9

Type

conf

DOI

10.1109/IVS.2011.5940581

Filename

5940581