Advances in Mechanical Engineering (Sep 2019)

A driver model–based direct yaw moment controller for in-wheel motor electric vehicles

  • Qiguang Wang,
  • Ye Zhuang,
  • Jiannan Wei,
  • Konghui Guo

DOI
https://doi.org/10.1177/1687814019877319
Journal volume & issue
Vol. 11

Abstract

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In this article, a driver model–based direct yaw moment controller, selected as the upper controller, is developed, of which the control target is determined through a reference driver model in accordance with the driver’s intention. The sliding surface is chosen by the difference between the desired yaw rate and the real output yaw rate. Then, the desired yaw moment is calculated by the sliding mode control. In the lower controller, a novel control torque distribution strategy is designed based on the analysis of the tire characteristics. In addition, an admissible control set of the control torques is calculated in real time through an embedded tire model “UniTire.” Finally, a driver-in-the-loop experiment, via the driving simulator, is conducted to verify the proposed direct yaw moment controller.