Stability control of a dual-motor vehicle based on coordinated application of motor and hydraulic actuator

The paper studies an electric vehicle with two driving motors connected to both front wheels independently. The character of individual control of the motors can generate the yaw moment to improve the active safety performance like the function of Electric Stability Programming (ESP). The paper proposes to provide the braking torque by the individual motor together with the hydraulic system of the ESP unit to satisfy the desired yaw moment. First, a dynamic vehicle model with nonlinear tire is established. Then a two-layer control structure of the yaw stability is given to produce the yaw moment and coordinate the motor torque and the hydraulic pressure. The simulation including the single lane change and slalom maneuver is conducted to validate the proposed method. The results show that the motors can assist the ESP to realize the yaw stability and also save the energy.