Torque vectoring algorithm for distributed drive electric vehicle considering coordination of stability and economy

Working of in-wheel motors (IWMs) in high-efficiency areas and minimum tire slip should be considered when driving dis-tributed drive electric vehicles (DDEVs). Therefore, a novel torque vectoring control algorithm is proposed to lower energy dissipation and ensure lateral stability, which consists of a linear quadratic regulator and a proportion integration control module in upper controller to calculate desired additional yaw moment and total driving torque, respectively, for following desired yaw rate, side slip angle, and longitudinal velocity. In addition, the stability objective function considering tire work-ing load and the economic objective function considering working efficiency of IWMs and tire slip energy are established separately in lower controller. The fitness function of coordinating lateral stability and economy is obtained by phase plane method. Particle swarm optimization (PSO) algorithm with a superior initial population (SIP-PSO) is proposed to solve torque distribution coefficients for torque distribution of DDEVs. Finally, simulation and hardware-in-the-loop test results under dou-ble lane change and snake lane change maneuvers on lower adhesion road indicate that the proposed algorithm can effectively lower the energy loss of IWM working and tire slip while ensuring lateral stability under different working conditions.