An antilock braking system (ABS) is one of the most important components in a road vehicle, which provides active protection during braking, to prevent wheels from locking-up and achieve handling stability steerability. The all-electric ABS without any hydraulic potential candidate for electric vehicles. To demonstrate examine algorithms, this article proposes single-wheel test bench, mainly in...

Considering driving safety and comfort, this paper proposed a roll and yaw integrated control method utilizing four wheel steering based on disturbance observer (hereinafter DOB) and 2-degree-of-freedom (hereinafter 2DOF) control approach. Firstly, vehicle model for controller design as well as the desired roll and yaw motion were explained; then the controller design was carried out based on t...

In this paper, a novel robust rolling stability control (RSC) based on electronic stability program (ESP) for electric vehicle (EV) is proposed. Since EVs are driven by electric motors, they have the following four remarkable advantages: (1) motor torque generation is quick and accurate; (2) motor torque can be estimated precisely; (3) a motor can be attached to each wheel; and (4) motor can ou...

Abstract With the help of several in-wheel motors, four-wheel independent-drive electric vehicle (4WIDEV) has tremendous potential to improve performance. Except for theme stability enhancement during past two decades, energy saving topic becomes more attractive recently. However, it is difficult achieve and economy performance simultaneously. Given commonly used control method rigid yaw rate t...

A new type of holonomic omnidirectionul vehicle which consists of wheel mechanisms without free rollers but with conventional tires is presented. We first present a concept of the new driving wheel mechanism with a tire in the conventional style such QS a rubber tire or a pneumatic tire,"Offset Steered Driving Wheel". The configuration of the wheel has an offset distance between a wheel axle an...

This paper discuses sensor steering mechanism (SSM) for a laterally guided vehicle with a rear wheel steering mechanism. The authors have demonstrated the geometry of SSMs for front wheel steering type and reverse phase four-wheel steering type vehicles. SSMs allow stable lateral guiding performance for automated vehicles following a path with straight and curved portions created by a guideway....

This paper presents an H ∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives. The design of the controller based on loop shaping and a state observer configuration is discussed, considering the effect of actuation dynamics. A gain scheduling of the controller parameters as a function of vehicle speed is implemented. The inc...