{"id":"https://openalex.org/W7119202900","doi":"https://doi.org/10.4271/2025-01-7333","title":"Kinematics-Based Differential In-Situ Steering Control for Distributed-Drive Electric Vehicles","display_name":"Kinematics-Based Differential In-Situ Steering Control for Distributed-Drive Electric Vehicles","publication_year":2025,"publication_date":"2025-12-31","ids":{"openalex":"https://openalex.org/W7119202900","doi":"https://doi.org/10.4271/2025-01-7333"},"language":"en","primary_location":{"id":"doi:10.4271/2025-01-7333","doi":"https://doi.org/10.4271/2025-01-7333","is_oa":false,"landing_page_url":"https://doi.org/10.4271/2025-01-7333","pdf_url":null,"source":{"id":"https://openalex.org/S4210202285","display_name":"SAE technical papers on CD-ROM/SAE technical paper series","issn_l":"0148-7191","issn":["0148-7191","1083-4958","2688-3627"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","jufo-1","norway-1","poland-40"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SAE Technical Paper Series","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041242808","display_name":"Jingxu Chen","orcid":"https://orcid.org/0000-0001-6700-7918","observed_orcids":["https://orcid.org/0000-0001-6700-7918"]},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingxu Chen","raw_affiliation_strings":["Wuhan University of Technology, Hubei Key Laboratory of Adva"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University of Technology, Hubei Key Laboratory of Adva","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066687392","display_name":"Yang Li","orcid":"https://orcid.org/0009-0003-9787-6972","observed_orcids":["https://orcid.org/0009-0003-9787-6972"]},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["Technical Center of Dongfeng Commercial Vehicle"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical Center of Dongfeng Commercial Vehicle","institution_ids":["https://openalex.org/I4210153068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121983016","display_name":"Yi Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Zhang","raw_affiliation_strings":["Technical Center of Dongfeng Commercial Vehicle"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical Center of Dongfeng Commercial Vehicle","institution_ids":["https://openalex.org/I4210153068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109972124","display_name":"Hongwang Zhao","orcid":"https://orcid.org/0000-0002-0905-7447","observed_orcids":["https://orcid.org/0000-0002-0905-7447"]},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongwang Zhao","raw_affiliation_strings":["Technical Center of Dongfeng Commercial Vehicle"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical Center of Dongfeng Commercial Vehicle","institution_ids":["https://openalex.org/I4210153068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122007321","display_name":"Miaomiao Qiao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miaomiao Qiao","raw_affiliation_strings":["Technical Center of Dongfeng Commercial Vehicle"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical Center of Dongfeng Commercial Vehicle","institution_ids":["https://openalex.org/I4210153068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122017939","display_name":"Beibei Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beibei Wang","raw_affiliation_strings":["Technical Center of Dongfeng Commercial Vehicle"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical Center of Dongfeng Commercial Vehicle","institution_ids":["https://openalex.org/I4210153068"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100656521","display_name":"Dongmei Wu","orcid":"https://orcid.org/0009-0002-8483-5883","observed_orcids":["https://orcid.org/0009-0002-8483-5883"]},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongmei Wu","raw_affiliation_strings":["Wuhan University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University of Technology","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/distributed-drive-electric-vehicles","display_name":"distributed drive electric vehicles","score":0.9539999961853027},{"id":"https://openalex.org/keywords/differential-steering","display_name":"differential steering","score":0.5130000114440918},{"id":"https://openalex.org/keywords/yaw-rate-control","display_name":"yaw rate control","score":0.7269999980926514},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"sliding mode control","score":0.8939999938011169},{"id":"https://openalex.org/keywords/wheel-torque-control","display_name":"wheel torque control","score":0.8059999942779541},{"id":"https://openalex.org/keywords/steering-radius","display_name":"steering radius","score":0.6800000071525574},{"id":"https://openalex.org/keywords/lateral-offset","display_name":"lateral offset","score":0.5260000228881836},{"id":"https://openalex.org/keywords/off-road-driving","display_name":"off-road driving","score":0.5759999752044678}],"concepts":[{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.8029999732971191},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7893000245094299},{"id":"https://openalex.org/C80932167","wikidata":"https://www.wikidata.org/wiki/Q7826801","display_name":"Torque steering","level":3,"score":0.6700000166893005},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.597000002861023},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5924000144004822},{"id":"https://openalex.org/C106613895","wikidata":"https://www.wikidata.org/wiki/Q151901","display_name":"Electronic differential","level":3,"score":0.5699999928474426},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5321999788284302},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.47620001435279846},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.46799999475479126},{"id":"https://openalex.org/C2776422217","wikidata":"https://www.wikidata.org/wiki/Q13629441","display_name":"Electric vehicle","level":3,"score":0.4009999930858612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3982999920845032},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3903999924659729},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.38510000705718994},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36570000648498535},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C2780380046","wikidata":"https://www.wikidata.org/wiki/Q423329","display_name":"Active steering","level":3,"score":0.31779998540878296},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2800000011920929},{"id":"https://openalex.org/C133055659","wikidata":"https://www.wikidata.org/wiki/Q1751501","display_name":"Tire balance","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.266400009393692},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.2565000057220459},{"id":"https://openalex.org/C148381915","wikidata":"https://www.wikidata.org/wiki/Q870020","display_name":"Automobile handling","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.4271/2025-01-7333","doi":"https://doi.org/10.4271/2025-01-7333","is_oa":false,"landing_page_url":"https://doi.org/10.4271/2025-01-7333","pdf_url":null,"source":{"id":"https://openalex.org/S4210202285","display_name":"SAE technical papers on CD-ROM/SAE technical paper series","issn_l":"0148-7191","issn":["0148-7191","1083-4958","2688-3627"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","jufo-1","norway-1","poland-40"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SAE Technical Paper Series","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2170493141","https://openalex.org/W2345026604","https://openalex.org/W2406673394","https://openalex.org/W2590784803","https://openalex.org/W2766407737","https://openalex.org/W3084643979","https://openalex.org/W4294584870","https://openalex.org/W4389893344","https://openalex.org/W4404340008","https://openalex.org/W4405305919","https://openalex.org/W4406084775","https://openalex.org/W4407385847"],"related_works":["https://openalex.org/W4407385847","https://openalex.org/W2926742690","https://openalex.org/W7125222736","https://openalex.org/W4388015044","https://openalex.org/W4294584870","https://openalex.org/W2983873141","https://openalex.org/W4402648978","https://openalex.org/W4409878830","https://openalex.org/W2900091145","https://openalex.org/W3130712293"],"abstract_inverted_index":{"In-situ":[0],"steering":[1,53,66,91,216],"can":[2,40,88,218],"significantly":[3],"improve":[4,123],"the":[5,45,72,76,80,86,90,101,106,115,124,130,139,145,156,167,172,180,189,193,201,210,215,226],"vehicle's":[6],"maneuverability":[7],"in":[8],"narrow":[9],"spaces,":[10],"especially":[11],"suitable":[12],"for":[13],"extreme":[14],"scenarios":[15],"such":[16],"as":[17],"off-road":[18],"driving":[19],"and":[20,30,35,79,105,117,143,192,200,228],"professional":[21],"operations.":[22],"For":[23],"distributed":[24,60],"drive":[25,61,77,153],"electric":[26,62],"vehicles,":[27],"kinematics-based":[28,59],"left":[29],"right":[31],"wheel":[32,96,108,141],"differential":[33,64,146],"control":[34,39,67,133],"dynamics-based":[36],"vehicle":[37,63],"yaw":[38,82,103,119,211],"achieve":[41],"in-situ":[42,52,65,231],"steering,":[43],"however,":[44],"two":[46],"methods":[47],"have":[48],"different":[49],"effects":[50],"on":[51,158,166],"performance.":[54],"This":[55],"paper":[56],"proposes":[57],"a":[58],"method,":[68],"which":[69,223],"first":[70],"establishes":[71],"functional":[73],"relationship":[74],"between":[75],"pedal":[78],"expected":[81,102,118],"rate,":[83,104],"so":[84],"that":[85,165],"driver":[87],"adjust":[89],"speed.":[92],"The":[93,161],"initial":[94],"reference":[95,107],"speed":[97,109],"is":[98,110,135,148,175,183,196,204],"calculated":[99],"from":[100,114],"adjusted":[111],"by":[112,150,177,185,198,206],"feedback":[113],"actual":[116],"rate":[120,212],"errors":[121],"to":[122,137,155],"tracking":[125],"accuracy.":[126],"On":[127],"this":[128],"basis,":[129],"sliding":[131],"mode":[132],"algorithm":[134],"used":[136],"calculate":[138],"required":[140],"torque,":[142],"finally":[144],"movement":[147],"realized":[149],"applying":[151],"reverse":[152],"torque":[154],"wheels":[157],"both":[159],"sides.":[160],"simulation":[162],"results":[163],"show":[164],"road":[168],"surface":[169],"of":[170,230],"0.85,":[171],"lateral":[173,194],"offset":[174,182,195,203],"increased":[176],"15.7%":[178],"but":[179],"longitudinal":[181,202],"reduced":[184,197,205],"64%":[186],"compared":[187,208],"with":[188,209],"PID":[190,213],"control,":[191,214],"98.6%":[199],"97.5%":[207],"radius":[217],"be":[219],"less":[220],"than":[221],"0.1m,":[222],"greatly":[224],"improves":[225],"stability":[227],"accuracy":[229],"steering.":[232]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-01-08T00:00:00"}
