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Kinematics-Based Differential In-Situ Steering Control for Distributed-Drive Electric Vehicles Wuhan University of Technology, Hubei Key Laboratory of Adva
- Format:
- Book
- Conference/Event
- Author/Creator:
- Chen, Jingxu, author.
- Conference Name:
- SAE 2025 Intelligent and Connected Vehicles Symposium (2025-09-19 : Shanghai, China)
- Language:
- English
- Physical Description:
- 1 online resource cm
- Place of Publication:
- Warrendale, PA SAE International 2025
- Summary:
- In-situ steering can significantly improve the vehicle's maneuverability in narrow spaces, especially suitable for extreme scenarios such as off-road driving and professional operations. For distributed drive electric vehicles, kinematics-based left and right wheel differential control and dynamics-based vehicle yaw control can achieve in-situ steering, however, the two methods have different effects on in-situ steering performance. This paper proposes a kinematics-based distributed drive electric vehicle differential in-situ steering control method, which first establishes the functional relationship between the drive pedal and the expected yaw rate, so that the driver can adjust the steering speed. The initial reference wheel speed is calculated from the expected yaw rate, and the reference wheel speed is adjusted by feedback from the actual and expected yaw rate errors to improve the tracking accuracy. On this basis, the sliding mode control algorithm is used to calculate the required wheel torque, and finally the differential movement is realized by applying reverse drive torque to the wheels on both sides. The simulation results show that on the road surface of 0.85, the lateral offset is increased by 15.7% but the longitudinal offset is reduced by 64% compared with the PID control, and the lateral offset is reduced by 98.6% and the longitudinal offset is reduced by 97.5% compared with the yaw rate PID control, the steering radius can be less than 0.1m, which greatly improves the stability and accuracy of in-situ steering
- Notes:
- Vendor supplied data
- Publisher Number:
- 2025-01-7333
- Access Restriction:
- Restricted for use by site license
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