Development of a Four Wheel Independent Drive and Four Wheel Independent Steer Electric Vehicle

A four wheel independent driving four wheel independent steering electric vehicle was developed. Chassis assembly and electrical system assembly about the vehicle are made thorough introduction of in this paper. Identity power control module is taken as the driving control approach, and both feedforward control keeping sideslip angle zero and feedback control aiming at tracking the ideal model are used as steering control approach. Experiment in various conditions is made to testify the electric vehicle´s driving characteristic, handling and stability, and control accuracy. The development of electric vehicle lies a foundation for further systematic study of vehicle dynamics.