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This paper presents a fault-tolerant control (FTC) strategy for a four-wheel independent driving electric vehicle suffering steering failure. The method is based on the functional redundancy of driving and braking actuators to recover the vehicle’s steering ability. A dynamic vehicle model is derived with the function of four-wheel driving. A sliding mode controller with a combined sliding surface...
This paper presents a novel Fault Tolerant Control (FTC) method for Electric Vehicle (EV) with wheel hub motors and by-wire steering system, in order to improve the vehicle safety and directional stability in case of steering failure. The driving force of this Four Wheel Independent Drive (FWID) EV was generated from four in-wheel motors using by-wire technology. The main objective is to track the...
In view of the vehicle cornering or path changing under ultimate handling maneuver, a 4-DOF nonlinear vehicle dynamics model which takes the longitudinal velocity, lateral velocity, yaw rate and body roll angle as the state variables is presented. Based on the dynamic analysis, the method which using additional yaw moment produced by different longitudinal braking force among each wheels to improving...
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