Adaptive Steering Stability Control for A Four In-Wheel-Motor Independent-Drive Electric Vehicle

This paper proposes an adaptive steering stability control strategy for a four in-wheel-motor independent-drive electric vehicle (4MIDEV) to improve its stability on the road with different adhesion coefficients, such as on the joint road. The proposed strategy is designed as a hierarchical structure whose upper control level takes the road adhesion coefficient into account in the yaw moment control and realizes the integrated control of the yaw rate and sideslip angle. The lower control level adopts a weight-based optimal allocation algorithm to achieve different weight control of each motor torque according to road adhesion coefficient. The proposed stability control strategy was validated in a co-simulation of the Matlab/Simulink and Carsim, the results of which indicate that the proposed strategy can effectively adapt to different adhesion coefficients and achieve good steering stability control effect.