Body Slip Angle Estimation and Control for Electric Vehicle with In-Wheel Motors

In this paper, by making use of the important merit that electric vehicle´s motor torque can be measured and controlled accurately, a body slip angle (beta angle) observer based on nonlinear tire model and a novel control method of body slip angle are introduced. Experimental results by UOT March II are shown to verify the effectiveness of the proposed observer. Simulations and tests are conducted to test the control method. The torque difference can be generated directly with in-wheel motors to control body slip angle at its desired value to keep vehicle´s stability.