Assisted Steering Control for Distributed Drive Electric Vehicles Based on Combination of Driving and Braking Wuhan University of Technology

Format:

Book

Conference/Event

Author/Creator:

Wu, Dongmei, author.

Contributor:

Du, Changqing

Wang, Cheng

Zhang, Yichao

Conference Name:

SAE 2023 Vehicle Powertrain Diversification Technology Forum (2023-08-26 : Shanghai, China)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2023

Summary:

This paper presents a low-speed assisted steering control approach for distributed drive electric vehicles. When the vehicle is driven at low speed, the braking of the inner-rear wheel is combined with differential drive to reduce the turning radius. A hierarchical control structure has been designed to achieve comprehensive control. The upper-level controller tracks the expected yaw rate and vehicle side-slip angle through a Linear Quadratic Regulator (LQR) algorithm. The desired yaw rate and vehicle side-slip angle are obtained according to the reference vehicle model, which can be regulated by the driver through the accelerator pedal. The lower-level controller uses a quadratic programming algorithm to distribute the yaw moment and driving moment to each wheel, aiming to minimize tire load rate variance. Simulation and real vehicle tests compare three steering modes: front-wheel steering only, front-wheel steering + differential drive assisted steering, and front-wheel steering + differential drive combined with differential braking assisted steering. The results show that the proposed coordinated control of drive and braking reduces the vehicle's turning radius by 20% compared to just front-wheel steering, which is beneficial for improving the handling of distributed drive vehicles

Notes:

Vendor supplied data

Publisher Number:

2023-01-7012

Access Restriction:

Restricted for use by site license