Robust Shared Control for Four-Wheel Steering Considering Driving Comfort and Vehicle Stability

Author:

Zhang Chuanwei1,Liu Haoxin1,Dang Meng1

Affiliation:

1. College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China

Abstract

Although the four-wheel steering system expands the flexibility of vehicle control, it also brings the problem of difficult coordination between driver comfort and vehicle stability. To this end, this paper proposes robust coordinated control for a four-wheel steering (4WS) vehicle considering driving comfort and vehicle stability. First, the vehicle dynamics model is constructed to reflect the lateral motion characteristics of a 4WS vehicle. Then, the driver model is coupled into the 4WS vehicle model to describe the driver’s handling characteristics. To suppress the system perturbation caused by the uncertainties of driver behavior and vehicle states, the Takagi-Sugeno fuzzy robust control method is developed to design the human-machine co-driving system. Moreover, the robust positive invariant set theory is used to guarantee the stability and safety constraints of the vehicle. Finally, the proposed human-machine shared robust control for 4WS vehicle is verified through the driving simulator platform. The results indicate that the fuzzy robust shared control approach comprehensively improves the driving comfort, vehicle stability, and path tracking.

Funder

National Natural Science Foundation of China

Shaanxi Innovation Talent Promotion Plan—Science and technology innovation team

2022 Youth Innovation Team Construction Scientific Research Program of Shaanxi Provincial Education Department

Publisher

MDPI AG

Subject

Automotive Engineering

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