Path Tracking Control With Four-Wheel Independent Steering, Driving and Braking Systems for Autonomous Electric Vehicles

This paper presents a method to design path tracking controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) systems equipped in in-wheel motor-driven electric vehicles (IWM-EVs). Generally, it is difficult calculate the angles of 4WIS braking/traction torques 4WIB/4WID for control. Moreover, there have been limitations an error dynamics-based controller, which requires assumptions on target path. To cope these problems, problem converted into yaw rate one reference this paper. Two methods are adopted purpose calculating rate. The first use pure pursuit method, generates angle tracking. From angle, calculated. second derive from current vehicle position. For tracking, direct moment control generate moment. A allocation distribute tire forces, generated by 4WIS, 4WID 4WIB. Several actuator combinations represented various sets virtual weights method. simulation program, CarSim®, shows that proposed effective enhancing performance simulation, effects analyzed.