With the rapid development of electrification and intelligentization, a controlled-by-wire chassis with the function of four-wheel-independent-driving, braking and steering will become the important trend of automotive due to its more degrees of freedom and higher redundancy. Based on the concept of automotive domain control, this paper proposes a hierarchical control method to realize the motion control of controlled-by-wire chassis. The hierarchical control method includes a motion control layer, a tire force distribution layer, and an executive layer. The off-line simulation proposed in this paper shows that the control method proposed in this paper can improve the stability of the vehicle, and at the same time ensure the safety of the vehicle even if in the condition of actuators failing to realize fault-tolerant control to some degree.
Research on Control Method of Four-Wheel-Independent-Driving System Based on X-by-Wire Chassis
Lect. Notes Electrical Eng.
2022-01-13
24 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Research on Control Method of Four-Wheel-Independent-Driving System Based on X-by-Wire Chassis
British Library Conference Proceedings | 2022
|Four-wheel independent steering drive-by-wire experiment chassis based on remote driving
Europäisches Patentamt | 2023
|Four-wheel independent damping, steering and driving wheeled robot chassis
Europäisches Patentamt | 2021
|