Design of an Active Collision Avoidance System for a 4WIS-4WID Electric Vehicle

Abstract

A novel four-wheel independent steering and four-wheel independent drive (4WIS-4WID) electric vehicle (EV) is proposed in this paper, which is regarded as an autonomous ground vehicle (AGV). Then, the active collision avoidance system of the 4WIS-4WID EV is designed, which mainly consists of the path planner design and the path-tracking controller design. Clothoid is used to planning the collision avoidance path and robust H∞ controller is applied to path tracking. To evaluate the performance of the active collision avoidance system for the 4WIS-4WID EV, simulations under two conditions are carried out. The simulation results indicate that the active collision avoidance system has good collision avoidance performance and robust performance, and the 4WIS-4WID EV has better path-tracking performance and handling stability than active front-wheel steering (AFS) vehicles.