Environment‐Adaptive Lateral Safety Control Algorithm for Four‐Wheel Independent Vehicles With Obstacle Distance Prioritization

ABSTRACT Four‐wheel independent intelligent vehicles are equipped with four independent in‐wheel motors, enabling rapid torque response, which allows precise control of vehicle dynamics within an extremely short time. Moreover, the driving torque and steering angle of each wheel can be independently controlled, enhancing the vehicle's maneuverability and stability under various complex conditions. To fully leverage the advantages of four‐wheel independent vehicles and enhance lateral stability and safety, this paper innovatively proposes an environment‐adaptive lateral safety control algorithm for four‐wheel independent vehicles with obstacle distance prioritization. In the design of the control strategy, four control methods including front‐wheel steering, rear‐wheel steering, differential drive, and differential braking are integrated to enhance the flexibility of vehicle control, while control mode priorities are established based on the surrounding environment, enabling the four‐wheel independent vehicle to possess environment‐adaptive capabilities. Furthermore, by integrating a fuzzy control algorithm into the novel LQR controller, the vehicle's environmental adaptive capability is further enhanced, allowing for the dynamic adjustment of the LQR controller's R‐matrix weight variables based on the control strategy and the fuzzy control algorithm, enabling the four‐wheel independent vehicle to adjust its control inputs according to the distance from surrounding obstacles, thereby achieving the most flexible and safest lateral stability control.