Drive control system design for stability and maneuverability of a 6WD/6WS vehicle

Kim, W. G.; Kang, Juyong; Yi, Kyongsu

doi:10.1007/s12239-011-0009-9

Cited by 16 publications

(6 citation statements)

References 9 publications

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“…Motion control with in-wheel motors is described for a six-wheel drive and six-wheel steer (6WD6WS) vehicle in [18] where vehicle dynamics performance are improved, implementing independent wheel torque and steering control; the results from this work are validated based on simulation. Vehicle stability and maneuverability are discussed in [19] where both an upper and lower controller works together to determine steering angles based on longitudinal forces, yaw moment, and tire force information. To ensure the vehicle accurately follows a given path, a bounded velocity motion controller with nonlinear control techniques is described in [20].…”

Section: Related Workmentioning

confidence: 99%

Design and development of a novel autonomous scaled multiwheeled vehicle

et al. 2021

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This article proposes the design and development of a novel custom-built, autonomous scaled multiwheeled vehicle that features an eight-wheel drive and eight-wheel steer system. In addition to the mechanical and electrical design, high-level path planning and low-level vehicle control algorithms are developed and implemented including a two-stage autonomous parking algorithm is developed. A modified position-based visual servoing algorithm is proposed and developed to achieve precise pose correction. The results show significant gains in accuracy and efficiency comparing with an open-source path planner. It is the aim of this work to expand the research of autonomous platforms taking the form of commercial and off-road vehicles using actuated steering and other mechanisms attributed to passenger vehicles. The outcome of this work is a unique autonomous research platform that features independently driven wheels, steering, autonomous navigation, and parking.

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Section: Related Workmentioning

confidence: 99%

Design and development of a novel autonomous scaled multiwheeled vehicle

et al. 2021

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“…Most of the integrated driving controllers for 4WD or 6WD-6WS vehicles developed in previous studies consist of upper-level control and lower-level control. [14][15][16]24 Similarly, the proposed fault-tolerant controller consists of an upper-level controller and lowerlevel controller. The upper-level controller determines the longitudinal and lateral dynamic motions intended by the driver using the vehicle dynamic equations discussed in the section on the upper-level controller design.…”

Section: Fault-tolerant Driving Control Algorithmmentioning

confidence: 99%

“…The performance index can be defined as a combination of the control inputs, friction circles and weighting factors. The proposed performance index is selected as 15,16,24,25…”

Section: Upper-level Controller Designmentioning

confidence: 99%

“…For instance, in the case where the steer-by-wire component of wheel 1 is faulty, the necessary condition given by equation ( 13) is neglected, those in equations (14) to (16) are recalculated and, finally, the additional longitudinal tyre force of wheels 2 to 4 can be calculated as…”

Section: Upper-level Controller Designmentioning

confidence: 99%

“…In previous studies, driving controllers for independent four-wheeled or six-wheeled vehicles were designed on the basis of optimal distribution control and take into consideration the friction circle related to the vertical tyre force and friction coefficient acting on the road and tyre to enhance their manoeuvrability and stability. [14][15][16] However, this strategy cannot cover all steering-system failure circumstances, because the tyre forces of the wheel with a faulty steer-by-wire system can disturb the manoeuvring of the vehicle. To reduce the resistance generated by the lateral tyre force in the case of a steer-by-wire system failure, a high-slip-based fault-tolerant driving controller is designed in this research.…”

Section: Introductionmentioning

confidence: 99%

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Fault-tolerant driving control of a steer-by-wire system for six-wheel-driving–six-wheel-steering vehicles

Nah

Kim

et al. 2012

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper describes a fault-tolerant driving control strategy for steer-by-wire system failures in six-wheel-driving–six-wheel-steering vehicles. The fault-tolerant driving control algorithm was designed to obtain vehicle manoeuvrability as close as possible to that of non-faulty vehicles by redistributing the tractive forces of the non-faulty wheels. Since a faulty steer-by-wire system induces a high lateral tyre force, which is the resistance to the yaw motion of the vehicle, a high-wheel slip control strategy is used to minimize the resistive lateral tyre force of the faulty steer-by-wire system. The fault-tolerant driving performance of a faulty six-wheel-driving–six-wheel-steering vehicle was investigated via computer simulations. To investigate the effectiveness of the proposed fault-tolerant driving control algorithm, the fault recovery rate was defined and calculated in terms of the vehicle manoeuvrability. Simulation studies show that the proposed fault-tolerant driving control algorithm can significantly improve the vehicle manoeuvrability, compared with the optimal traction redistribution method.

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