Electric vehicles have attractive potential in vehicle stability control. In traction control systems, it is generally required to detect vehicle speed in order to obtain the slip-ratio. However, it is hard to measure vehicle speed directly. In the first part of this paper, novel estimation method of slip-ratio is proposed without detecting the vehicle speed. The estimation accuracy is improved by considering the driving resistance. Based on this estimation, a slip-ratio controller is developed with feedback linearization. In the second part, a simple DYC is proposed which can identify the front and rear cornering stiffness independently without slip-angle observer. The advantages of proposed methods are verified by simulations and experiments with an electric vehicle which has two in-wheel motors.
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