Advanced Torque Vectoring for Yaw Stability Enhancement of a Four Wheel Drive Electric Vehicle

摘要

This paper presents a method for driving torque vectoring control of four wheel drive electric vehicles with in-wheel-motors and an active front steering motor. In general, since a electric vehicle equipped with in-wheel-motors have high dynamic responses over internal combustion engine vehicles, it is expected that high speed and precise dynamic motion control such as traction or yaw motion control, etc.. In this paper, we designed the yaw motion control based on a proposed torque vectoring method for improving cornering performances. In order to realize precise cornering force generation, we designed two types of lateral tire force controllers and have done comparative study on control performances of each control method. Computer simulations using commercial software CarSim have been performed to verify the effectiveness of a proposed controller. Based on robust controller design for yaw moment control and lateral tire force control, the vehicle cornering stability and handling performances can be provided at the same time.