Stability Control for Distributed Drive Electric Vehicles Using Particle Filter and Fuzzy Integral Sliding Mode Control

The Distributed Drive Electric Vehicles (DDEVs) features independently controllable torque at each wheel, with motors that respond quickly and precisely, effectively enhancing vehicle stability. Traditional vehicles typically employ hydraulic braking systems as actuators for Electronic Stability Control (ESC). In contrast, DDEVs can also achieve ESC control requirements with four independent drive motors. However, there are significant differences in control precision and response speed between the two types of actuators, rendering traditional ESC control strategies unsuitable for DDEVs. This paper proposes a layered ESC control strategy for DDEVs based on Particle Filte (PF) and Fuzzy Integral Sliding Mode Control (FISMC). First, the state estimation layer utilizes the PF algorithm to accurately estimate the center-of-gravity sideslip angle. The target torque decision layer consists of a PI vehicle speed tracking controller and a yaw moment controller. The yaw moment controller uses the FISMC algorithm to determine the additional yaw moment based on deviations between the actual and ideal values of the yaw rate and center-of-gravity sideslip angle, dynamically adjusting the sliding mode surface according to vehicle state and driving conditions. Finally, the target torque allocation layer dynamically distributes drive and regenerative braking torques to each wheel based on variations in tire vertical load. Compared to traditional ESC control strategies, the proposed control strategy is validated through joint simulations in MATLAB/Simulink and CarSim under double lane change and J-turn conditions. The results demonstrate that the proposed strategy offers high precision in estimating the center-of-gravity sideslip angle, effectively adapts to changes in driving conditions while maintaining stable vehicle speed, and improves the stability control performance of the DDEVs.