Independent Torque Distribution Strategies for Vehicle Stability Control

This paper proposes and compares torque distribution management strategies for vehicle stability control (VSC) of vehicles with independently driven wheels. For each strategy, the following feedback control variables are considered turn by turn: 1) yaw rate 2) lateral acceleration 3) both yaw rate and lateral acceleration. Computer simulation studies are conducted on the effects of road friction conditions, feedback controller gains, and a driver emulating speed controller. The simulation results indicated that all VSC torque management strategies are generally very effective in tracking the reference yaw rate and lateral acceleration of the vehicle on both dry and slippery surface conditions. Under the VSC strategies employed and the test conditions considered, the sideslip angle of the vehicle remained very small and always below the desired or target values.

This study forms an essential step in the design and selection of actuators (e.g., in-wheel motors) for vehicle dynamics control of vehicles with independently driven wheels. Applications include certain powertrain architectures for pure electric or series hybrid electric and hydraulic hybrid vehicles with independent all wheel drives.