{"id":"https://openalex.org/W4403423092","doi":"https://doi.org/10.1109/tvt.2024.3473305","title":"Hierarchical Hybrid Steering Control for Four-Wheel-Steering Vehicles Considering System Delays","display_name":"Hierarchical Hybrid Steering Control for Four-Wheel-Steering Vehicles Considering System Delays","publication_year":2024,"publication_date":"2024-10-15","ids":{"openalex":"https://openalex.org/W4403423092","doi":"https://doi.org/10.1109/tvt.2024.3473305"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3473305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3473305","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"type":"article","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/A5012659616","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0002-1763-0397"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["Advanced Technology Research Institute, Beijing Institute of Technology, Jinan, China","Advanced Technology Research Institute, Beijing Institute of Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-1763-0397","affiliations":[{"raw_affiliation_string":"Advanced Technology Research Institute, Beijing Institute of Technology, Jinan, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Advanced Technology Research Institute, Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085324111","display_name":"Xiaoxuan Yin","orcid":"https://orcid.org/0000-0001-9029-541X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxuan Yin","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9029-541X","affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052233170","display_name":"Zhenpo Wang","orcid":"https://orcid.org/0000-0002-1396-906X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenpo Wang","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1396-906X","affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108048515","display_name":"Fengchun Sun","orcid":"https://orcid.org/0000-0001-9524-9367"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengchun Sun","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086362961","display_name":"Xiaolin Ding","orcid":"https://orcid.org/0000-0001-9051-8791"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolin Ding","raw_affiliation_strings":["National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9051-8791","affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Electric Vehicles, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.1491,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77240069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"74","issue":"2","first_page":"2667","last_page":"2681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9886999726295471,"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":0.9886999726295471,"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/T14270","display_name":"Simulation and Modeling Applications","score":0.941100001335144,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/torque-steering","display_name":"Torque steering","score":0.6470525860786438},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5536481142044067},{"id":"https://openalex.org/keywords/electronic-differential","display_name":"Electronic differential","score":0.5395305752754211},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5369963049888611},{"id":"https://openalex.org/keywords/steering-linkage","display_name":"Steering linkage","score":0.482920378446579},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.475740909576416},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46723443269729614},{"id":"https://openalex.org/keywords/power-steering","display_name":"Power steering","score":0.43951547145843506},{"id":"https://openalex.org/keywords/steering-system","display_name":"Steering system","score":0.4345391094684601},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4341379702091217},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.4306013882160187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4292905926704407},{"id":"https://openalex.org/keywords/hybrid-vehicle","display_name":"Hybrid vehicle","score":0.42378517985343933},{"id":"https://openalex.org/keywords/active-steering","display_name":"Active steering","score":0.42187047004699707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39015859365463257},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37196260690689087},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.36145323514938354},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12137967348098755}],"concepts":[{"id":"https://openalex.org/C80932167","wikidata":"https://www.wikidata.org/wiki/Q7826801","display_name":"Torque steering","level":3,"score":0.6470525860786438},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5536481142044067},{"id":"https://openalex.org/C106613895","wikidata":"https://www.wikidata.org/wiki/Q151901","display_name":"Electronic differential","level":3,"score":0.5395305752754211},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5369963049888611},{"id":"https://openalex.org/C106625973","wikidata":"https://www.wikidata.org/wiki/Q16927051","display_name":"Steering linkage","level":4,"score":0.482920378446579},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.475740909576416},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46723443269729614},{"id":"https://openalex.org/C2778679013","wikidata":"https://www.wikidata.org/wiki/Q1054734","display_name":"Power steering","level":2,"score":0.43951547145843506},{"id":"https://openalex.org/C2984181804","wikidata":"https://www.wikidata.org/wiki/Q7605968","display_name":"Steering system","level":2,"score":0.4345391094684601},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4341379702091217},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.4306013882160187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4292905926704407},{"id":"https://openalex.org/C516807790","wikidata":"https://www.wikidata.org/wiki/Q193075","display_name":"Hybrid vehicle","level":3,"score":0.42378517985343933},{"id":"https://openalex.org/C2780380046","wikidata":"https://www.wikidata.org/wiki/Q423329","display_name":"Active steering","level":3,"score":0.42187047004699707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39015859365463257},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37196260690689087},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.36145323514938354},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12137967348098755},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3473305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3473305","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7200000286102295,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G5650192170","display_name":null,"funder_award_id":"BX20230462","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1516528437","https://openalex.org/W1551643295","https://openalex.org/W1964565648","https://openalex.org/W2126266980","https://openalex.org/W2761537883","https://openalex.org/W2769943604","https://openalex.org/W2791450195","https://openalex.org/W2904441821","https://openalex.org/W2945559911","https://openalex.org/W2969316657","https://openalex.org/W2974415171","https://openalex.org/W3017736836","https://openalex.org/W3024674854","https://openalex.org/W3026308822","https://openalex.org/W3036357000","https://openalex.org/W3082681517","https://openalex.org/W3092056990","https://openalex.org/W3126812522","https://openalex.org/W3134248851","https://openalex.org/W3183782021","https://openalex.org/W3195461371","https://openalex.org/W3199196168","https://openalex.org/W3205097973","https://openalex.org/W3205371935","https://openalex.org/W4200276886","https://openalex.org/W4210991315","https://openalex.org/W4226079129","https://openalex.org/W4293195354","https://openalex.org/W4297797185","https://openalex.org/W4302362979","https://openalex.org/W4308068533","https://openalex.org/W4312317742","https://openalex.org/W4313478134","https://openalex.org/W4313563264","https://openalex.org/W4362496276","https://openalex.org/W4377971348","https://openalex.org/W4379055909","https://openalex.org/W4380078897","https://openalex.org/W4386169273","https://openalex.org/W4387450650","https://openalex.org/W4392907151"],"related_works":["https://openalex.org/W2364435225","https://openalex.org/W2333706655","https://openalex.org/W2270823423","https://openalex.org/W2348511231","https://openalex.org/W4313362262","https://openalex.org/W2360493523","https://openalex.org/W2005913126","https://openalex.org/W2899626964","https://openalex.org/W1997286480","https://openalex.org/W3033410341"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,24,46,91],"hierarchical":[4],"hybrid":[5,47],"steering":[6,26,43,58],"control":[7],"scheme":[8,150,167],"for":[9,101],"four-wheel-steering":[10],"vehicles":[11],"to":[12,62,99,123,172],"deal":[13],"with":[14,51,90],"steer-by-wire":[15],"system":[16],"time":[17],"delays":[18],"and":[19,36,56,78,110,136],"vehicle":[20,64],"nonlinear":[21],"characteristics.":[22],"First,":[23],"variable":[25],"ratio":[27],"is":[28,60,96,151],"developed":[29],"considering":[30],"the":[31,34,41,74,102,134,141,145,148,165,173],"influence":[32,103],"of":[33,104,133,147],"front":[35,135],"rear":[37,137],"wheels'":[38],"angles":[39,139],"on":[40,129],"vehicle's":[42],"characteristic.":[44],"Then":[45],"feedforward":[48],"controller":[49,89,116],"combining":[50],"steady-state":[52,131],"control,":[53],"dynamic":[54],"compensation,":[55],"oblique":[57],"compensation":[59],"established":[61],"enhance":[63],"dynamics":[65],"stability":[66],"in":[67],"extreme":[68],"driving":[69],"conditions,":[70],"taking":[71],"into":[72],"account":[73,100],"reference":[75],"yaw":[76,111,142],"rate":[77,112],"road":[79,107],"adhesion":[80,108],"constraints.":[81],"Meanwhile,":[82],"an":[83,118],"adaptive":[84,119],"linear":[85],"quadratic":[86],"regulator-based":[87],"feedback":[88],"piece-wise":[92],"affine":[93],"tire":[94],"model":[95],"put":[97],"forward":[98],"vertical":[105],"load,":[106],"condition,":[109],"tracking":[113],"error.":[114],"The":[115,161],"adopts":[117],"weighting":[120],"coefficient":[121],"mechanism":[122],"satisfy":[124],"various":[125],"working":[126],"conditions":[127],"based":[128],"different":[130],"gains":[132],"wheel":[138],"over":[140],"rate.":[143],"Finally,":[144],"effectiveness":[146],"proposed":[149,166],"experimentally":[152],"verified":[153],"under":[154],"comprehensive":[155],"testing":[156],"scenarios":[157],"through":[158],"Hardware-in-the-Loop":[159],"tests.":[160],"results":[162],"show":[163],"that":[164],"has":[168],"superior":[169],"performance":[170],"relative":[171],"state-of-the-art":[174],"methods.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
