Study on stability control of distributed drive electric vehicle under critical conditions

摘要

This paper presents a new control algorithm for stability control of distributed drive electric vehicle under critical driving conditions. A hierarchical vehicle stability control strategy is used. Considering the strong nonlinearity of the tyres under critical driving conditions, a tyre cornering stiffness estimator is developed. Then an adaptive control algorithm based on the linear quadratic regulator theory is designed by online estimation of the tyre cornering stiffness. Both targeted yaw rate and targeted sideslip angel are determined according to the change of road conditions and vehicle situations. Real vehicle test indicates that the proposed stability controller can effectively stabilize the vehicle motion under critical driving conditions and improve the vehicle trafficability.