Abstract
To improve the vehicle handling stability, a four-wheel steering (4WS) controller with yaw rate tracking is proposed in this paper. A driver/ vehicle closed-loop system is built based on the preview-follower theory to evaluate the system’s manoeuvring performance. Next, the system driving on a double lane-change road and on a low adhesion road are simulated and compared with conventional front-wheel steering vehicle. The Fourier transform method is developed to analyse the dynamics of the closed-loop system in the frequency domain. The results show that the proposed 4WS vehicle has the preferred response characteristics of sideslip angle and yaw rate, and is robust regarding tire cornering stiffness, which guarantees the handling stability in emergency braking condition.
Highlights
With the rapid development of global transportation, the amount of traffic accidents has been increasing year by year
For a 4WS vehicle, the conventional zero sideslip control strategy [6] can help driver to have the correct feeling of the vehicle body movement when vehicle corners, but it decreases the steady-state gain of the vehicle yaw rate a lot at high speed, and leads the vehicle to excessive understeering in that it is impossible to decouple the two variables of sideslip angle and yaw rate completely with only one control variable of the rear wheel steering angle [7]
The objective of this paper is to investigate the design of a 4WS controller to reduce the dynamic errors of yaw rate and sideslip angle by tracking the proposed vehicle model, and to evaluate the closedloop system performance including driver and the 4WS vehicle
Summary
With the rapid development of global transportation, the amount of traffic accidents has been increasing year by year. Some others took the optimising the control objective in order to improve the vehicle handling performance by only using 4WS technology, which considered the coordination of the sideslip angle and yaw rate, and the nonlinearity of tire and the variation of road condition [11] to [14]. The objective of this paper is to investigate the design of a 4WS controller to reduce the dynamic errors of yaw rate and sideslip angle by tracking the proposed vehicle model, and to evaluate the closedloop system performance including driver and the 4WS vehicle.
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