Abstract
Each wheel torque of a four-wheel drive electric vehicle can be independently controlled, which play an important role in ensuring the vehicle good handling stability and energy conservation & environmental protection. A coordinated control strategy of EPS and 4WD based on vehicle driving safety margin is proposed. The vehicle dynamics model and tire model are established. The driving safety margin of the vehicle is determined according to the dynamic characteristics of the vehicle, the dynamic coordination control factors of EPS/4WD controller in the upper controller are determined by driving safety margin. The simulation results validate the EPS and 4WD coordinated control strategy based on driving safety margin can improve the vehicle’s driving stability, thus the effectiveness of the control strategy is verified.
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