Wheel Drive Driverless Vehicle Handling and Stability Control Based on Multi-Directional Motion Coupling

Abstract

To fully unleash the performance potential of the Wheel Drive Driverless Vehicle (WDDV) and enhance its handling stability across a wide range of extreme operating conditions, this paper proposes a novel approach for designing a multi-directional motion coupling control system. Firstly, an analysis of the unmanned driving modes of the WDDV is conducted, followed by the establishment of a method for defining the control target parameter set for handling stability. Subsequently, a coupled dynamic model that considers the wheel drive counter force is developed. Building this model, a method for estimating the handling stability state is introduced, focusing on improving both handling and stability aspects. Furthermore, by combining the sliding mode control algorithm with the coupled dynamic model, a design methodology for a multi-directional motion coupling control law that adapts to extreme operating conditions is proposed. Finally, through comprehensive simulation experiments and testbed, the effectiveness of the proposed multi-directional motion coupling control system is validated, demonstrating superior handling stability compared to the decoupled control system.