TY - JOUR
T1 - Active Front Steering and Four-Wheel Torque Vectoring for Improved Driving and Braking Performance of Distributed Drive Electric Vehicles
AU - Zhang, Lei
AU - Li, Siyang
AU - Ding, Xiaolin
AU - Wang, Zhenpo
AU - Sun, Fengchun
N1 - Publisher Copyright:
© 1967-2012 IEEE.
PY - 2026/3
Y1 - 2026/3
N2 - In this paper, a coordinated control scheme combining Active Front Steering (AFS) and Four-Wheel Torque Vectoring (4WTV) is proposed to enhance vehicle driving, braking and hill-climbing performance on split-μ roads. First, an AFS controller is designed based on a linear time-varying model predictive control approach to compensate for the additional yaw moment generated by torque vectoring. Then anti-lock braking and acceleration slip regulation controllers are developed using robust integral sliding mode control, taking into account the tire-road adhesion limits at each wheel. Finally, a coordination mechanism is formulated to effectively integrate the AFS and 4WTV controllers, considering driver inputs, vehicle states, road friction conditions, and actuator characteristics. Hardware-in-the-loop test results under three different split-μ road surfaces demonstrate that the proposed control scheme significantly reduces braking distance and acceleration time while improving hill-climbing performance and maintaining lateral stability.
AB - In this paper, a coordinated control scheme combining Active Front Steering (AFS) and Four-Wheel Torque Vectoring (4WTV) is proposed to enhance vehicle driving, braking and hill-climbing performance on split-μ roads. First, an AFS controller is designed based on a linear time-varying model predictive control approach to compensate for the additional yaw moment generated by torque vectoring. Then anti-lock braking and acceleration slip regulation controllers are developed using robust integral sliding mode control, taking into account the tire-road adhesion limits at each wheel. Finally, a coordination mechanism is formulated to effectively integrate the AFS and 4WTV controllers, considering driver inputs, vehicle states, road friction conditions, and actuator characteristics. Hardware-in-the-loop test results under three different split-μ road surfaces demonstrate that the proposed control scheme significantly reduces braking distance and acceleration time while improving hill-climbing performance and maintaining lateral stability.
KW - Active front-wheel steering
KW - Coordinated control
KW - Four-wheel torque vectoring
KW - X-by-wire
KW - model predictive control
UR - https://www.scopus.com/pages/publications/105016807620
U2 - 10.1109/TVT.2025.3611526
DO - 10.1109/TVT.2025.3611526
M3 - Article
AN - SCOPUS:105016807620
SN - 0018-9545
VL - 75
SP - 3957
EP - 3973
JO - IEEE Transactions on Vehicular Technology
JF - IEEE Transactions on Vehicular Technology
IS - 3
ER -