پويا كرم بيگي

In comparison to the traditional steering system, the Four-Wheel Independent Steering (4WIS) system demonstrates better path following and handling stability. In this research, a combined system of Four-Wheel Independent Steering and Electronic Stability Program (ESP) is presented to follow and traverse the road path. A linear two-degree-of-freedom model of vehicle handling forms the basis for Model Predictive Controller (MPC) design, enabling the vehicle to follow the reference path. The principles and calculations related to the controller are also discussed. The ultimate goal of the controller is to minimize the output error of the system (difference between the vehicle's heading angle and lateral deviation) between the reference signal and the measured signal. In the simulation phase, to eva‎luate the presented system, CarSim and Simulink simulators are employed, introducing all vehicle parameters such as mass, axle distances, and the method of calculating tire lateral stiffness. Tests are conducted on two different paths, one being a DLC test and the other a road with a specified path equation commonly used in studies. Ultimately, the simulation results indicate the strong performance of this system compared to two-wheel independent steering and four-wheel independent steering systems, reducing noticeable errors such as lateral deviation while maintaining system stability. The sensitivity of Four-Wheel Independent Steering systems and integrated systems to speed is studied, and their performance differences in these conditions are investigated. The design of this system is challenged with a double-mu (µ-split) coefficient test in double-lane change on the road. Additionally, lateral load transfer is applied to the system, dynamically adjusting the controller's input weights to showcase the innovation of this system. Finally, by comparing this system with the results of other studies, its superiority is demonstrated.

فرمان چهار چرخ مستقل , پيروي مسير , كنترل مدل پيشبين , سيستم كنترل پايداري الكترونيك

Four-wheel independent steering , Electronic Stability Program , path following , Model predictive controller

Pouya Karambeigi

Behrooz Mashhadi