The Pivot Steering Based on Differential Speed Control and the Steering Characteristics Analysis of a Commercial Truck Driven by In-Wheel Motors

In-wheel motors significantly enhance the dynamics control performance of electric vehicles. This paper investigates pivot steering control applied to commercial trucks with four in-wheel motors. The differential torque and differential speed methods are demonstrated. The suitability of pivot steering based on differential speed control for commercial trucks is assessed. Two differential speed control strategies are designed and compared through simulation: one in which a wheel is locked by the braking system and one in which no wheel is locked. The analysis includes a comprehensive examination of the steering radius and other vehicle states under pivot steering control. The influence of vehicle parameters, including the position of centroid and tire configuration, on the pivot steering effects is explored. The findings contribute some insights into the feasibility and performance optimization of pivot steering in commercial truck applications.