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

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