Cascade Direct Yaw Moment Control for an Independent Eight In-Wheel Motor-Driven Autonomous Vehicle

Unstructured off-road environments with complex terrain obstacles and pavement properties bring obvious challenges for special purpose autonomous vehicle control. A cascade direct yaw moment control strategy (CDYC), which contains a main loop servo loop, is proposed to enhance the accuracy stability of an independent eight in-wheel motor-driven rear-wheel steering (8WD/RWS). In double PID controllers are designed generate desired drive rate. quadratic programming (QP) algorithm tire force boundaries optimally allocates demanded individual wheel torques. The 8WD/RWS prototype virtually established using TruckSim serves as object co-simulation. controller verified by simulations in customized driving scenarios. simulation results show that architecture can effectively path-tracking ability handling 8WD/RWS, ensure maneuverability under extreme conditions.