Optimization design of the dual-steering control system for all-wheel independent electric drive vehicle

In order to give full play to the advantage of the all-wheel independent electric drive vehicle, the dual-steering control system has been designed. A hierarchical control structure, which integrates a goal design layer, a direct yawing moment determining layer, and a driving force distribution layer, is used in the vehicle control system. The dual-steering control system was verified in simulation and experimental tests. The results show that the dual-steering control system can provide a high level of performance in term of maneuverability for it can effectively reduce steering radius, and the system can satisfy the steering demand when single motor was fail.