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<p>With advances in automotive engineering, four wheel independent drive (4WID) vehicles already have become a preferred solution in control practice. However, under complex driving conditions, existing 4WID vehicles equipped with rear-wheel steering (RWS) may exhibit mutual interference between handling and stability objectives, which is a nonlinear control challenge. In this paper, we propose a control framework that adaptively integrates handling and stability objectives. First, the phase plane of front-rear tires slip angles is divided into three regions, from which a stability coefficient is derived. Based on the stability coefficient and the road-adhesion, the reference targets fusion methods of handling and stability for yaw rate and sideslip angle are proposed. An integrated control scheme that incorporates enhanced feedforward weighting expressions and linear quadratic regulator feedback of torque vectoring control and RWS according to varying stability coefficients and vehicle speeds is developed. The control framework is validated through hardware in the loop (HiL) simulation and real vehicle testing. Ultimately, the experimental results demonstrate the effectiveness in improving handling and stability. Real-vehicle tests show that, versus the baseline, stable-region yaw rate gain increases by 13.2%, while in the unstable region, the peak yaw rate and sideslip angle decrease by 13.2%, 29.9%, respectively.</p>

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Adaptive integrated control of 4WID and RWS considering vehicle stability coefficient

  • 期刊论文

  • 发表日期：

    2026年2月26日

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  • Yurun Gan,
  • Ning Wei,
  • Wei Li,
  • Haitao Ding,
  • Jianwei Zhang,
  • Nan Xu

摘要

With advances in automotive engineering, four wheel independent drive (4WID) vehicles already have become a preferred solution in control practice. However, under complex driving conditions, existing 4WID vehicles equipped with rear-wheel steering (RWS) may exhibit mutual interference between handling and stability objectives, which is a nonlinear control challenge. In this paper, we propose a control framework that adaptively integrates handling and stability objectives. First, the phase plane of front-rear tires slip angles is divided into three regions, from which a stability coefficient is derived. Based on the stability coefficient and the road-adhesion, the reference targets fusion methods of handling and stability for yaw rate and sideslip angle are proposed. An integrated control scheme that incorporates enhanced feedforward weighting expressions and linear quadratic regulator feedback of torque vectoring control and RWS according to varying stability coefficients and vehicle speeds is developed. The control framework is validated through hardware in the loop (HiL) simulation and real vehicle testing. Ultimately, the experimental results demonstrate the effectiveness in improving handling and stability. Real-vehicle tests show that, versus the baseline, stable-region yaw rate gain increases by 13.2%, while in the unstable region, the peak yaw rate and sideslip angle decrease by 13.2%, 29.9%, respectively.