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

This paper presents a novel control algorithm for stability control of distributed drive electric vehicle under critical conditions. A hierarchical control strategy is used. This paper focuses on the vehicle motion control level. Firstly, target yaw rate and target sideslip angle are both determined. Then considering the strong nonlinearity of the tyres under critical conditions, a tyre cornering stiffness estimator is developed. Finally, an adaptive control algorithm based on the linear quadratic regulator theory is designed by online estimation of tyre cornering stiffness. Experiments indicates that the proposed stability controller can effectively stabilize the vehicle motion under critical driving conditions.