A Post Impact Stability Control for Four Hub-Motor Independent-Drive Electric Vehicles

Abstract

This article presents a post-impact lateral stability control strategy integrated for Four Hub-Motor Independent-Drive Electric Vehicles (4MIDEV) to address the issue of loss of vehicle stability control due to vehicle skidding and saturated tire forces upon light vehicle collision using active front steering (AFS) and direct yaw moment control (DYC). Upon a light vehicle collision, vehicle experiences lateral and yaw motions due to collision impact-induced yaw moment. A multiple-objective hierarchical control strategy to attenuate vehicle yaw moment and regain stability control is proposed. Two potential sets of control reference states for the control strategy motion control are considered: desired DYC states and the drift equilibrium. A direct yaw moment controller based on sliding mode control (SMC) theory is designed to track the desired yaw rate. For the AFS, the tracking of desired DYC sideslip angle is performed using a SMC based controller, whereas the tracking of drift equilibrium state values employs a state feedback controller. An SMC longitudinal controller is designed for deceleration control of the vehicle after collision. Upon compensation of the yaw moment, a multiple sliding surface control theory-based lane controller is employed for lateral path deviation and heading angle control. The effectiveness of the proposed control strategy is validated on Carsim and Matlab/Simulink joint simulation platform. Simulation results showed that the proposed control strategy is effective in improving the post-impact stability control of the 4MIDEV on a high-velocity condition, and the control strategy that tracks the drift equilibrium showed better control performance on low adhesion coefficient surface.