Research on the platform design and control system for the wheel-side steering-driving coordination vehicle

In this paper, a new type vehicle with four wheel independent steering (4WIS) and four wheel independent driving (4WID) travelling mechanism is designed. Under careful analysis of the advantages and disadvantages of both the mechanical and electrical features, the design of platform is discussed. Besides, a corresponding control structure is addressed. Under the Co-simulation using ADAMS and MATLAB/Simulink, algorithms to generate longitudinal and lateral force are tested, with a coordinated torque control of the steering and driving motors. The results show the proposed mechanical design and control system could make a good combination that traditional vehicles are hard to reach.