Stefan Kueperkoch

Novel Vehicle Stability Control Using Steer-by-Wire and Independent Four Wheel Torque Distribution

The introduction of X-By-Wire technology opens new possibilities for vehicle stability control. This technology replaces the mechanical links currently existing between the driver and different actuators with electrical connections so that the driver can be decoupled from the control system. In this paper, we consider a X-By-Wire vehicle powered by four independent wheel motors and front wheel steer-by-wire. For such a vehicle, a control algorithm is developed that employs steering and individual wheel acceleration in addition to braking to enhance stability and improve performance. Such a vehicle offers advantages in case of actuator failure where the remaining actuators can act to ensure stability and we illustrate this in simulation using our control algorithm. Finally, we describe our experimental setup and present preliminary experimental results.Copyright