Multi-objective Optimization Method for Steering Mode Switch Trajectory of Four-wheel Independent Steering Vehicle

doi:10.3901/JME.2024.06.306

Abstract

Abstract: To improve the comfort, safety and switch efficiency of four-wheel independent steering vehicle under dynamic switch among multiple steering modes, a multi-objective optimization method for switch trajectory of steering mode is proposed. Firstly, the dynamics and kinematics models of the 4WIS vehicle are built. Secondly, the switching trajectory of instantaneous center of rotation for vehicle is established based on the B-spline curve. Then the evaluation functions of the safety, comfort, and switch efficiency for 4WIS vehicle under steering mode switch are proposed, and the multi objective optimization model for switch trajectory of steering mode with defined constraints is constructed. Furthermore, the switch trajectory of steering mode is optimized by using particle swarm optimization algorithm to realize the optimal planning with multi-objective collaboration. Finally, numerical simulations and real vehicle experiments with a homemade vehicle are carried out to demonstrate the proposed optimization method. Compared with the multi-objective and double-objective optimization methods with known switching targets under the simulation condition of switching from front wheel steering to rear wheel steering, the proposed optimization method improves the switching efficiency by 20.73% and 27.78%, and the safety by 6.67% and 15.15%, respectively．The simulation and experimental results show that the 4WIS vehicle can ensure great switch efficiency, comfort, and safety in the dynamic switch process of steering mode.

Key words: four-wheel independent steering vehicle, steering mode switch, trajectory planning, multi-objective collaboration optimization, real vehicle experiments

CLC Number:

U469

ZHOU Chen, XU Feixiang. Multi-objective Optimization Method for Steering Mode Switch Trajectory of Four-wheel Independent Steering Vehicle[J]. Journal of Mechanical Engineering, 2024, 60(6): 306-320.

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