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<p>Aiming to address the stability issues of vehicles under various driving conditions, this paper proposes a fuzzy logic-based longitudinal and lateral coordination control strategy for four wheel steering and four wheel independent driving (4WS-4WID) vehicles. The proposed control strategy consists of a two-level structure: the upper controller designs an integrated controller of active rear wheel steering and direct yaw moment (ARS-DYC) based on the model predictive control (MPC) theory, and proposes a fuzzy logic-based control method to coordinate the weights of ARS and DYC by longitudinal speed, road adhesion coefficient, and sideslip angle, so as to improve vehicle stability and reduce energy waste caused by the coupling of steering and driving system. The lower controller distributes the torque to the four wheels using a quadratic programming method. To verify the effectiveness of the proposed method, joint simulations are conducted on the Carsim and Matlab/Simulink platforms. The results show that the proposed coordinated control strategy can still show excellent lateral stability even under extreme conditions.</p>

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Fuzzy Logic-Based 4WS-4WID Vehicles Longitudinal and Lateral Coordination Control Strategy

  • 期刊论文

  • 发表日期：

    2025年8月12日

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  • Yuanlong Wang,
  • Jiaqing Zhou,
  • Tong Zhang,
  • Guanying Chen,
  • Yifeng Cui,
  • Rongxian Qiu

摘要

Aiming to address the stability issues of vehicles under various driving conditions, this paper proposes a fuzzy logic-based longitudinal and lateral coordination control strategy for four wheel steering and four wheel independent driving (4WS-4WID) vehicles. The proposed control strategy consists of a two-level structure: the upper controller designs an integrated controller of active rear wheel steering and direct yaw moment (ARS-DYC) based on the model predictive control (MPC) theory, and proposes a fuzzy logic-based control method to coordinate the weights of ARS and DYC by longitudinal speed, road adhesion coefficient, and sideslip angle, so as to improve vehicle stability and reduce energy waste caused by the coupling of steering and driving system. The lower controller distributes the torque to the four wheels using a quadratic programming method. To verify the effectiveness of the proposed method, joint simulations are conducted on the Carsim and Matlab/Simulink platforms. The results show that the proposed coordinated control strategy can still show excellent lateral stability even under extreme conditions.