Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric is taken as the research object. Considering key factors such velocity and road adhesion coefficient, criterion studied, based on phase plane sideslip angle sideslip-angle rate. To solve problem that vehicles difficult to measure, algorithm estimating extended Kalman filter designed. The control method yaw moment sliding-mode distribution wheel driving/braking torque are proposed. takes minimum sum square load rate optimization objective. Based Matlab/Simulink Carsim, a cosimulation model built. accuracy proposed criterion, verified. relevant provide some reference development in-wheel-motors.