Full control modes of a four-wheeled vehicle with zero body-sideslip angle and zero body motions

摘要

This study presents how to use the full control concept to achieve zero body-sideslip angle and zero body motions for four-wheeled vehicles. Firstly, the governing equations for a 6 d.o.f. four-wheeled vehicle model, i.e. a vehicle with four wheels, each wheel controlled independently, has been developed. With six properly chosen control inputs, there are 16 full control modes for the zero body-sideslip angle and zero body motions control. The sum of tractive forces, cornering forces, or active suspension forces is set as the criteria for evaluating these full control modes. In typical driving scenarios, these control modes are compared and discussed, and preferable modes are concluded. Also, the difference for full control modes between four-wheeled vehicles and three-wheeled vehicles has been discussed. Finally, this study presents how to apply the full control concept into vehicle cruise control. By using the full control concept, the zero body-sideslip angle and zero body motions of four-wheeled vehicle can be realised, and vehicle cruise control rules with better handling and comfort performance are introduced in this study.