Integrated Torque Vectoring Control Using Vehicle Yaw Rate and Sideslip Angle for Improving Steering and Stability of All Off- Wheel-Motor Drive Electric Vehicles

Abstract

Recently electric vehicles with independent wheel-motor-drive showed great potential for advanced chassis active control integration leading to high driving performance, ensured safety, and compact packaging. Advanced motor drives and powerful power electronics enable highly sophisticated vehicle control systems to be applied and integrated using minimum hardware. This paper proposes an integrated torque vectoring control using vehicle yaw rate and sideslip angle to correct steering and improve stability of all off-wheel-motor drive electric vehicles. The control system is suggested with three control layers: the higher, medium, and lower. The main contribution of this work is implementing torque vectoring based on regenerative braking on the wheels allocated to develop braking force. The proposed torque vectoring control is implemented on a 7-DOF electric vehicle model in MATLAB/Simulink and verified by a double-lane change manoeuvre. Simulation results show explicit improvement in vehicle heading and stability.