Lateral stability control of distributed driven electric vehicle based on sliding mode control

College of Transportation, Shandong University of Science and Technology, Qingdao, Shandong, 266590, China

^* Corresponding author’s e-mail: 201882160003@sdust.edu.cn

Abstract

Aiming at the lateral stability control problem of distributed driven electric vehicles under high speed steering condition, a hierarchical control algorithm of direct yaw moment is designed. The upper control takes the 2-DOF vehicle model as the reference model and uses the sliding mode control to obtain the required yaw moment by tracking the desired yaw velocity and the desired vehicle side-slip angle. The lower control optimizes the distribution of four wheel torque with the minimum tire utilization rate. Finally, Carsim/Simulink was used for model building and co-simulation, and the control effect of PID algorithm was compared. The results show the hierarchical control algorithm achieves the expected goal of improving vehicle lateral stability.