A novel direct yaw moment controller is developed in this paper. A hierarchical control architecture is adopted in the controller design. In the upper controller, a driver model and a vehicle model are used to obtain the driver's intention and the vehicle states, respectively. The upper controller determines the desired yaw moment by means of sliding mode control. The lower controller distributes differential longitudinal forces according to the desired yaw moment. A nonlinear tyre model, 'UniTire’, is utilised to develop the novel distribution strategy and the control boundary.


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    Title :

    A novel direct yaw moment controller for in-wheel motor electric vehicles


    Contributors:

    Published in:

    Vehicle System Dynamics ; 51 , 6 ; 925-942


    Publication date :

    2013


    Size :

    18 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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