Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

In this paper, the related studies of chassis configurations and control systems for four-wheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed discussed. Firstly, some prototypes integrated X-by-wire modules 4WID-4WIS EV introduced, configuration is analyzed. Then, common models EV, i.e., dynamic model, kinematic path tracking summarized. Furthermore, frameworks, strategies, algorithms introduced discussed, including handling stability control, rollover prevention active fault-tolerate control. Finally, with a view towards autonomous driving, challenges, perspectives