The Structural Design and Experimental Study of Integrated Stability Control for Distributed Driven Electric Vehicle 2020-01-5174

Due to the individual controllability of each motor, the distributed driven electric vehicle has provided a broad research domain for vehicle integrated control. This paper focuses on vehicle stability control by the integration of three systems, the hydraulic brake unit, active steering unit, and motor torque control unit. Firstly, the hierarchical control strategy has been designed generally, which is divided into three levels, the upper controller, medium controller, and lower controller. Secondly, based on the hierarchical structure, each controller has been introduced in detail. The upper controller is the application layer, which has implemented the functions such as the estimations of vehicle states and road conditions, calculation of nominal control variables, identification of vehicle stability and steering characteristics, and the coordinated algorithm of additional yaw moment and active front angle, etc. The medium controller is the decision and allocation layer, which primarily finishes the coordination of brake and motor control. The lower controller is the execution layer, which is mainly to control three actual variables (the pressure of brake wheel, the torque of each motor, the angle of front-wheel) to follow the expectations. Finally, to validate the effectiveness of strategy proposed, the Hardware In-the-Loop (HIL) tests are conducted on two typical conditions, compared with the strategy without active front angle control and only hydraulic brake control, the results have shown that the strategy proposed has a better property on vehicle stability.