Design and experimental validation for stability control of four-wheel-drive electric vehicle

A vehicle stability control algorithm is proposed in this paper. Selecting a 2Dofs vehicle model with road limitation as the reference model, the yaw moment and the longitudinal force are calculated by yaw rate tracking and side slip angle limits, and are then applied to the motor and the hydraulic actuators according to the distribution logic. A hardware-in-the-loop bench test is conducted to validate the algorithm. Experimental results show that the controlled vehicle behaves well in the low and middle adhesion road in double lane change condition, and both the yaw rate and side slip angle maintain in rational ranges.