Yu, Zhihao (Tsinghua University), Wu, Peibao (Tsinghua university), Luo, Rongkang (Tsinghua univeristy), Hou, Zhichao (Tsinghua University)

Dynamics Modeling and Motion Control of 4IWMD/4WS Vehicles Based on Torque Coordination

Scheduled for presentation during the Invited Session "Learning-empowered Intelligent Transportation Systems: Foundation Vehicles and Coordination Technique I" (WeAT1), Wednesday, September 25, 2024, 11:30−11:50, Salon 1

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on December 26, 2024

Abstract

This paper presents a dynamics model of electric vehicles with four in-wheel motor drive (4IWMD) and four-wheel steering (4WS), where the suspension geometry is incorporated. To explore the potential of utilizing the vertical reaction forces generated by the in-wheel motors' driving torques to control the vertical, pitch and roll motions of the vehicle body, torque coordination strategies are analyzed for both straight-line driving and cornering maneuver. A generalized torque distribution strategy is then derived to effectively and independently control each of the three body motions. Additionally, the influence of the suspension geometry on the maximum attainable vertical force, pitch moment and roll moment is investigated. The results can serve as the foundation for designing suspension geometry and motion control strategies for 4IWMD/4WS vehicles.