Emergency Control Strategy for Distributed Skid-Steering Vehicles

Based on the lateral properties of tire and the input variable of braking force, a 2-DOF lateral dynamic analytical model of wheel skid-steered vehicle is established in this paper. Based on the model, the steady-state yaw velocity gain and steering radius in the process of skid-steering are analyzed theoretically. Then the control boundary and distribution strategy of the braking force are given. An all-terrain vehicle was used to carry out a real vehicle test, and verified that the strategy can ensure the safe steering of the vehicle when the driving force is lost.