Vehicle Stability Control with Four-Wheel Independent Braking, Drive and Steering on In-Wheel Motor-Driven Electric Vehicles

descriptionPublicationkeyboard_double_arrow_right Article , Other literature type 17 Nov 2020 English Publisher:MDPI AGJournal:Electronics, volume 9, page 1,934 (eissn: 2079-9292,

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Authors: Jaewon Nah; Seongjin Yim;

doi: 10.3390/electronics9111934

Vehicle Stability Control with Four-Wheel Independent Braking, Drive and Steering on In-Wheel Motor-Driven Electric Vehicles

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Abstract

This paper presents a method to design a vehicle stability controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) for electric vehicles (EVs) adopting in-wheel motor (IWM) system. To improve lateral stability and maneuverability of vehicles, a direct yaw moment control strategy is adopted. A control allocation method is adopted to distribute control yaw moment into tire forces, generated by 4WIB, 4WID and 4WIS. A set of variable weights in the control allocation method is introduced for the application of several actuator combinations. Simulation on a driving simulation tool, CarSim®, shows that the proposed vehicle stability controller is capable of enhancing lateral stability and maneuverability. From the simulation, the effects of actuator combinations on control performance are analyzed.

Related Organizations

Seoul National University of Science and Technology
Korea (Republic of)
Wonkwang University
Korea (Republic of)

Keywords

weighted pseudo-inverse based control allocation (WPCA), four-wheel independent braking (4WIB), in-wheel driving system, vehicle stability control (VSC), independent steering system

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