Fig 1.
Vehicle plane dynamic model.
Fig 2.
Front wheel differential steering system.
Fig 3.
Hierarchical control system.
Fig 4.
Linear simplified model of tire friction circle.
Table 1.
Vehicle simulation parameters.
Fig 5.
Simulation results on high adhesion coefficient road.
(A) Input of steering wheel angle. (B) Curve of front wheel steering angles. (C) Curve of yaw rates. (D) Curve of sideslip angles. (E) Curve of vehicle trajectories. (F) Curve of longitudinal speeds. (G) Tire load ratio of FWDSV with hierarchical controller. (H) Tire load ratio of FWDSV with SMC controller.
Table 2.
Extreme values of response curves for three models on high adhesion coefficient road.
Fig 6.
Simulation results on low adhesion coefficient road.
(A) Input of steering wheel angle. (B) Curve of front wheel steering angles. (C) Curve of yaw rates. (D) Curve of sideslip angles. (E) Curve of vehicle trajectories. (F) Curve of longitudinal speeds. (G) Tire load ratio of FWDSV with hierarchical controller. (H) Tire load ratio of FWDSV with SMC controller.
Table 3.
Extreme values of response curves for three models on low adhesion coefficient road.