Homogeneous Domination-Based Lateral Stability Control Method for Electric Vehicle Lane Keeping System

Lane keeping control technology can improve driving safety. But the direct torque, caused by four in-wheel motors of an electric vehicle driven (EV-DFIM), will affect lateral stability. For solving this issue, a two-degree-of-freedom (2DOF) dynamic model EV-DFIM lane system is constructed to obtain stability state equations. Then homogeneous domination-based observer and output feedback controller are designed balance when working. The Lyapunov method used prove that globally asymptotically stabilize system. Then, yaw moment strategy presented based on optimal allocation algorithm with lowest utilization rate tire allocate desired torques for every motor. Finally, numerical simulation HIL carried out verify proposed domination theory has good effect robustness.