文章基本信息

标题：Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles
本地全文：下载
作者：Peng Hang ; Xinbo Chen
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2021
卷号：10
期号：8
页码：184
DOI：10.3390/act10080184
语种：English
出版社：MDPI Publishing
摘要：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.