High-speed stability coordinated control of driverless special vehicles based on four-wheel steering and independent electric drive

In order to maximize the high-speed maneuverability of four-wheel special vehicles and ensure the high-speed stability of vehicles under different road conditions in the case of driverless driving, this paper takes four-wheel steering and independent electric drive driverless special vehicles as the research object and based on multi-layer coordinated closed-loop control strategy. A coordination control system of active rear-wheel steering (ARS) and direct yaw-moment control (DYC) is designed. Firstly, the active rear-wheel steering controller and the direct yaw moment controller are designed to control the lateral deflection angle and yaw angle speed of the vehicle. Subsequently, a rule-based coordination controller is developed, with the operational timeframe for each subordinate controller being distributed appropriately. Ultimately, a co-simulation platform integrating CarSim and Simulink is established to simulate and validate the devised coordination control system. The outcomes of the simulation demonstrate that the engineered coordinated control system accomplishes the objective of enhancing the high-speed maneuverability of four-wheel autonomous vehicles.