A Study on the Control of Handling and Stability of a Four Wheel Independent Steering Electric Vehicle

The path-tracking control of electric vehicles with four wheel independent steering (FWIS) is crucial for enhancing vehicle stability. This paper aims to address the issue of multi-actuator redundancy by coordinating the control allocation of multiple actuators, thereby improving the handling stability and path tracking performance of FWIS vehicles. First, a model of FWIS electric vehicle is developed, taking into account both the nonlinear tyre and motor actuator characteristics. Subsequently, a path tracking model is established and a hierarchical control architecture is designed. The upper-level controller computes the generalized tracking force and the lower-level control force is distributed based on the principle of optimal tyre utilization rate. Finally, the simulation results demonstrate the effectiveness of the proposed control scheme in terms of tracking accuracy and handling and stability.