Development of a vehicle stability control algorithm using velocity and yaw rate for an in-wheel drive vehicle

This paper proposes a vehicle stability control algorithm that uses velocity and yaw rate during cornering for an in-wheel independent drive vehicle. The vehicle velocity control at the cornering determines the velocity limit that the vehicle can sustain the given cornering radius and controls the vehicle velocity for safe cornering if the vehicle velocity is faster than the velocity limit. The yaw rate control determines whether the vehicle is under steer or over steer during cornering and directly generates a yaw moment by independently driving and braking the in-wheel motor of each wheel. To evaluate the validity of the vehicle stability control algorithm, a co-simulator that integrated the CarSim vehicle model and MATLAB/Simulink controller model was developed.