| Fuzzy Logic-Based 4WS-4WID Vehicles Longitudinal and Lateral Coordination Control Strategy |
| Yuanlong Wang1, Jiaqing Zhou1, Tong Zhang1, Guanying Chen1, Yifeng Cui2, Rongxian Qiu2 |
1School of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China
2School of Mechanical Engineering, Nanjing Uinversity of Science and Technology, Nanjing, 210094, China |
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Received: March 12, 2025; Revised: May 9, 2025 Accepted: July 1, 2025. Published online: August 12, 2025. |
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| ABSTRACT |
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Aiming to address the stability issues of vehicles under various driving conditions, this paper proposes a fuzzy logic-based longitudinal and lateral coordination control strategy for four wheel steering and four wheel independent driving (4WS-4WID) vehicles. The proposed control strategy consists of a two-level structure: the upper controller designs an integrated controller of active rear wheel steering and direct yaw moment (ARS-DYC) based on the model predictive control (MPC) theory, and proposes a fuzzy logic-based control method to coordinate the weights of ARS and DYC by longitudinal speed, road adhesion coefficient, and sideslip angle, so as to improve vehicle stability and reduce energy waste caused by the coupling of steering and driving system. The lower controller distributes the torque to the four wheels using a quadratic programming method. To verify the effectiveness of the proposed method, joint simulations are conducted on the Carsim and Matlab/Simulink platforms. The results show that the proposed coordinated control strategy can still show excellent lateral stability even under extreme conditions. |
| Key Words:
4WS-4WID vehicles · Fuzzy logic · Active rear-wheel steering · Direct yaw moment · Coordination control |
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Corresponding Author.
Yuanlong Wang , Email. 
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