motor vehicle with individually driven and controlled and independent schwingbaren wheels, especially for rough terrain.

• 1. 机动车辆后轮的具有主动轮距控制功能的独立车轮悬架装置 [P] . 中国专利： CN110116755A . 2019-08-13
• 2. 用于具有车轮所用的可转换直通式驱动的混合动力机动车辆的驱动系统和机动车辆 [P] . 中国专利： CN113710524A . 2021-11-26
• 3. INDEPENDENT SUSPENSION EMPLOYING HORIZONTAL SUSPENSION STRUT FOR VEHICLE WHEEL INDIVIDUALLY DRIVEN BY ELECTRIC MOTOR [P] . 世界知识产权组织专利： WO2017049469A1 . 2017-03-30

  机译： 电动独立驱动的车辆车轮的独立悬架采用水平悬架

• 4. INDEPENDENT SUSPENSION EMPLOYING VERTICAL SUSPENSION STRUT FOR VEHICLE WHEEL INDIVIDUALLY DRIVEN BY ELECTRIC MOTOR [P] . 世界知识产权组织专利： WO2017049468A1 . 2017-03-30

  机译： 电动独立驱动的车辆车轮的独立悬架采用垂直悬架

• 5. motor vehicle with at least two pairs of wheels for walking on rough terrain. [P] . 瑞士专利： CH115836A . 1926-07-16

  机译： 带有至少两对车轮的汽车，可在崎terrain的地形上行走。

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• 2. Decentralized Dynamic Event-Triggered Communication and Active Suspension Control of In-Wheel Motor Driven Electric Vehicles with Dynamic Damping [J] . Iftikhar Ahmad, Xiaohua Ge, Qing-Long Han 自动化学报：英文版 . 2021,第005期
• 3. Four-Wheel Independently Driven In-Wheel Motors Electric Vehicle AFS and DYC Integrated Control [C] . Gang Li, Wei Hong, Heqi Liang SAE World Congress Exhibition . 2012
• 4. Dynamic Modeling for the Path Tracking Control of a Four-Wheel Independent-Drive, Four-Wheel Independent-Steer Autonomous Ground Vehicle [D] . Klindworth, Karl Emerson. 2017
• 5. Driver dependent factors and the risk of causing a collision for two wheeled motor vehicles [O] . P Lardelli-Claret, J Jimenez-Moleon, Luna-del-... J de Dios, 2005
• 6. Vehicle Stability Control with Four-Wheel Independent Braking, Drive and Steering on In-Wheel Motor-Driven Electric Vehicles [O] . Jaewon Nah, Seongjin Yim 2020
• 7. Design and Control of Omnidirectional Unmanned Ground Vehicles for Rough Terrain. [R] . K. Iagnemma 2012

• 1. Dual-steering mode based on direct yaw moment control for multi-wheel hub motor driven vehicles:Theoretical design and experimental assessment [J] . Zheng Zhang ,Xiao-jun Ma ,Chun-guang Liu . Defence Technology(防务技术) . 2022,第1期
• 2. Combined Control Allocation and Sliding Mode Control in the Dynamic Control of a Vehicle with Eight In-Wheel Motors [J] . Rui Zhang ,Chengning Zhang . 北京理工大学学报：英文版 . 2017,第1期
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• 4. 基于LuGre动态模型的车轮独立驱动控制研究 [C] . 阮久宏 ,杨福广 ,邱绪云 . 第27届中国控制会议 . 2008
• 5. 车轮系统对四轮独立驱动电动汽车摆振影响机理研究 [A] . 许英 . 2018