Electric Vehicle Yaw Rate Control using Independent In-Wheel Motor

A yaw rate control algorithm is proposed for an independent in-wheel motor vehicle. For the yaw rate control, first, the traction torque is reduced corresponding to the lateral acceleration. In addition, PID type weight factor is introduced by considering the wheel slip ratio. The yaw rate control algorithm generates the desired direct yaw moment by adjusting the traction torque at each wheel, which is obtained from the sliding mode control. It is found from the simulation results for the slalom test that the yaw rate control algorithm suggested in this study is able to provide satisfactory performance with stability.