This content is not included in your SAE MOBILUS subscription, or you are not logged in.

Integrated Stability Control System for Electric Vehicles with In-wheel Motors using Soft Computing Techniques

Journal Article
ISSN: 1946-4614, e-ISSN: 1946-4622
Published April 20, 2009 by SAE International in United States
Integrated Stability Control System for Electric Vehicles with In-wheel Motors using Soft Computing Techniques
Citation: Jalali, K., Uchida, T., McPhee, J., and Lambert, S., "Integrated Stability Control System for Electric Vehicles with In-wheel Motors using Soft Computing Techniques," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 2(1):109-119, 2009,
Language: English


  1. van Zanten, A.T. “Bosch ESP systems: 5 years of experience” SAE 2000-01-1633 2000
  2. Alberti, V. Babbel, E. “Improved driving stability by active braking of the individual wheels” Proceedings of the International Symposium on Advanced Vehicle Control Aachen 717 732 1996
  3. Ackermann, J. Odenthal, D. Bünte, T. “Advantages of active steering for vehicle dynamics control” 32 nd International Symposium on Automotive Technology and Automation Vienna 263 270 1999
  4. Farmer, C.M. “Effect of electronic stability control on automobile crash risk” Traffic Injury Prevention 5 4 317 325 2004
  5. Garrott, W.R. Forkenbrock, G.J. “NHTSA's light vehicle ESC research program” National Highway Traffic Safety Administration Vehicle Research and Test Center June 9 2005
  6. Motor Insurance News “US to make ESP mandatory” September 27 2006
  7. Hori, Y. “Future vehicle driven by electricity and control - research on four-wheel-motored ‘UOT Electric March II’” IEEE Transactions on Industrial Electronics 51 5 954 962 2004
  8. Fecht, N. Automotive Chassis Technology - Fundamentals, concepts, processes and trends ZF Lemförder Fahrwerktechnik, Verlag Moderne Industrie 2004
  9. Jalali, K. Bode, K. McPhee, J. Lambert, S. “Design of an Advanced Traction Controller for an Electric Vehicle Equipped with Four Direct Driven In-Wheel Motors,” SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 1 1 211 219 2008
  10. Jalali, K. Stability Control through Integration of Advanced Torque Vectoring and Active Steering University of Waterloo 2006
  11. Schmitke, C. Modelling Multibody Multi-domain Systems using Subsystems and Linear Graph Theory University of Waterloo 2004
  12. Vogt, H. Schmitke, C. Jalali, K. McPhee, J. “Real-time dynamics simulation of an electric vehicle with in-wheel motors” International Journal of Vehicle Autonomous Systems 2009
  13. Sayers, M.W. Han, D. “A generic multibody vehicle model for simulating handling and braking” Vehicle System Dynamics 25 599 613 1996
  14. Schmitke, C. Morency, K. McPhee, J. “Using graph theory and symbolic computing to generate efficient models for multi-body vehicle dynamics” Journal of Multi-body Dynamics 222 339 352 2008
  15. Pacejka, H.B. Tire and Vehicle Dynamics SAE International Warrendale 2002
  16. Hanselman, D. Brushless Permanent Magnet Motor Design McGraw-Hill New York 1994
  17. Vogt, H. Real Time Dynamics Simulation of an Electric Vehicle with In-Wheel Motors University of Waterloo 2007
  18. Rahman, M.A. Slemon, G.R. “Promising applications of neodymium boron iron magnets in electrical machines” IEEE Transactions on Magnetics 21 5 1712 1716 1985
  19. Terashima, M. Ashikaga, T. Mizuno, T. Natori, K. Fujiwara, N. Yada, M. “Novel motors and controllers for a high-performance electric vehicle with four in-wheel motors” IEEE Transactions on Industrial Electronics 44 1 28 38 1997
  20. Pillay, P. Krishnan, R. “Modeling, simulation, and analysis of permanent-magnet motor drives, Part I: The permanent-magnet synchronous motor drive” IEEE Transactions on Industry Applications 25 2 265 273 1989
  21. McPhee, J. Unified Modelling Theories for the Dynamics of Multidisciplinary Multibody Systems, in Advances in Computational Multibody Systems Ambrósio J. Springer-Verlag 125 154 2005
  22. Cordón, O. Herrera, F. Gomide, F. Hoffmann, F. Magdalena, L. “Ten years of genetic fuzzy systems: current framework and new trends” Fuzzy Sets and Systems 141 5 31 2004
  23. Cordón, O. Herrera, F. Hoffmann, F. Magdalena, L. Genetic Fuzzy Systems: Evolutionary Tuning and Learning of Fuzzy Knowledge Bases World Scientific Publishing 2001
  24. Ng, K.C. Li, Y. “Design of sophisticated fuzzy logic controllers using genetic algorithms” Proceedings of the 3rd International Conference on Fuzzy Systems Orlando 3 1708 1712 1994
  25. Magdalena, L. Monasterio-Huelin, F. “A fuzzy logic controller with learning through the evolution of its knowledge base” International Journal of Approximate Reasoning 16 3-4 335 358 1997
  26. Magdalena, L. “Adapting the gain of an FLC with genetic algorithms” International Journal of Approximate Reasoning 17 4 327 349 1997
  27. Yu, Y. Zeng, B. “A real-time method to tune rules base of fuzzy control system” Proceedings of the 2002 IEEE International Conference on Fuzzy Systems Honolulu 425 430 2002
  28. Minghui, W. Yongquan, Y. Bi, Z. “Ship steering system based on fuzzy control using real-time tuning algorithm” Proceedings of the 3 rd International Conference on Information Technology and Applications 577 580 2005
  29. Park, D. Kandel, A. Langholz, G. “Genetic-based new fuzzy reasoning models with application to fuzzy control” IEEE Transactions on Systems, Man, and Cybernetics 24 1 39 47 1994
  30. Gürocak, H.B. “A genetic-algorithm-based method for tuning fuzzy logic controllers” Fuzzy Sets and Systems 108 1 39 47 1999
  31. Manning, W.J. Crolla, D.A. “A review of yaw rate and sideslip controllers for passenger vehicles” Transactions of the Institute of Measurement and Control 29 2 117 135 2007
  32. Karray, F.O. de Silva, C. Soft Computing and Intelligent Systems Design Pearson Education Limited 2004
  33. Dixon, J.C. Tires, Suspension and Handling SAE International Warrendale 1996
  34. Durali, M. Bahramzadeh, Y. “Vehicle stability improvement using fuzzy controller and neural-network slip angle observer” SAE 2003-01-2883 2003
  35. Shiozawa, Y. Yokote, M. Nawano, M. Mouri, H. “Development of a method for controlling unstable vehicle behavior” SAE 2007-01-0840 2007
  36. Bonissone, P.P. Aggour, K. “Fuzzy automated braking system for collision prevention” 10 th IEEE International Conference on Fuzzy Systems 2 757 760 2001
  37. Bauer, H. Driving-safety systems 2nd Robert Bosch GmbH Warrendale 1999
  38. Bosch Automotive Handbook 6th Robert Bosch GmbH Plochingen 2004
  39. Bode, K.H. Preliminary Suspension Design and Stability Control Strategies for an Electric Vehicle with Four Independently Driven In-Wheel Motors University of Waterloo 2006
  40. Kiencke, U. Nielsen, L. Automotive Control Systems - For Engine, Driveline, and Vehicle 2nd Springer-Verlag Berlin Heidelberg 2005

Cited By