Title: Trajectory and attitude cooperative control method of four wheel independently actuated vehicles based on joystick driving intention input

Authors: Jubiao Liu; Lin Li; Yu Feng; Xin Fang; Shuyun Lin; Wei Liu

Addresses: School of Civil Engineering and Transportation, Northeast Forestry University, Harbin, Heilongjiang, 150040, China ' Dynamics Research Laboratory, Geely Automobile Research Institute (Ningbo) Co., Ltd., Ningbo, Zhejiang, 315327, China ' State Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology, Baotou, Inner Mongolia, 014032, China ' State Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology, Baotou, Inner Mongolia, 014032, China ' Guizhou Research Institute of Mountain Agricultural Machinery , Guiyang, Guizhou, 550002, China ' Guizhou Research Institute of Mountain Agricultural Machinery , Guiyang, Guizhou, 550002, China

Abstract: To address the challenge of jointly controlling the trajectory and attitude of a four-wheel independently actuated vehicle - specifically, the issue of how to appropriately allocate the steering angles of the front and rear wheels - this paper proposes a novel manipulation mechanism. By operating a joystick, the driver can generate the desired slip angle and yaw rate, thereby enabling the system to perceive and interpret the driver's intent regarding vehicle attitude control. Concurrently, a robust controller is developed, which utilises the slip angle and yaw rate derived from the joystick as control references, while employing the steering angles of the front and rear wheels as control inputs. This approach facilitates coordinated control of both vehicle trajectory and attitude. Simulation results demonstrate that the proposed joystick interface and control strategy effectively enhance the vehicle's maneuverability, stability, and overall safety.

Keywords: four-wheel independently actuated vehicle; perceiving driver's intention; Joystick; yaw rate; slip angle; robust controller; automatic allocation of front and rear wheel steering angles.

DOI: 10.1504/IJVD.2025.149125

International Journal of Vehicle Design, 2025 Vol.98 No.1/2/3/4, pp.117 - 140

Received: 23 Apr 2024
Accepted: 11 Apr 2025
Published online: 14 Oct 2025 *

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