Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

• Published in: Actuators Vol. 10; no. 8; p. 184
• Main Authors: Hang, Peng, Chen, Xinbo
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.08.2021
• Subjects: Active control; active safety control; Algorithms; autonomous driving; Braking systems; Colleges & universities; Configurations; Control algorithms; Control stability; Decision making; Dynamic models; Electric vehicles; four-wheel independent drive; four-wheel independent steering; handling stability; Path tracking; Rollover; Steering; Tracking control; Traffic accidents & safety; Germany
• ISSN: 2076-0825; 2076-0825
• DOI: 10.3390/act10080184

In this paper, the related studies of chassis configurations and control systems for four-wheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed and discussed. Firstly, some prototypes and integrated X-by-wire modules of 4WID-4WIS EV are introduced, and the chassis configuration of 4WID-4WIS EV is analyzed. Then, common control models of 4WID-4WIS EV, i.e., the dynamic model, kinematic model, and path tracking model, are summarized. Furthermore, the control frameworks, strategies, and algorithms of 4WID-4WIS EV are introduced and discussed, including the handling of stability control, rollover prevention control, path tracking control and active fault-tolerate control. Finally, with a view towards autonomous driving, some challenges, and perspectives for 4WID-4WIS EV are discussed.