Four-Wheel Independent Steer (4WIS) and Four-Wheel Independent Drive (4WID) vehicles provide more possibilities and potentials in vehicle dynamics and control, and therefore can improve the vehicle performance in extreme maneuvers and racetracks. This paper designs a 4WIS&4WID racing vehicle platform with 4 Electric Power Steering (EPS) and 4 hub motors, and builds the structure for essential motion sensors, communication networks, data acquisition system and driver control system. Through a series of real-world tests including acceleration, fixed radius track, double lane-change, slalom and racetrack, together with the 4WIS&4WID control strategies in our previous work, the vehicle is proved to have desirable dynamics. It can follow the target trajectory in extreme maneuvers when the maximum lateral acceleration is over 1g, and our 4WIS&4WID strategies are proved to be able improve the vehicle’s performance due to enhanced lateral force response and proper utilization of adhesion and finally improve the lap time.
Design of a 4-Wheel Independent Steer and 4-Wheel Independent Drive Racing Vehicle
2023-10-27
5573969 byte
Conference paper
Electronic Resource
English
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