Lateral Stability Control of Four-Wheel-Drive Electric Vehicle Based on Coordinated Control of Torque Distribution and ESP Differential Braking

This research focuses on four-wheel-drive electric vehicles. On the basis of the hierarchical coordinated control strategy, the coordinated control system of driving force distribution regulation and differential braking regulation was designed to increase the electric vehicles steering stability under special road working conditions. A seven-degree-of-freedom model of an electric vehicle was established in MATLAB/Simulink, and then a hierarchical coordination control model of the Electronic stability program and dynamic torque distribution control system was established. Adaptive fuzzy control was applied to ESP and, based on the neural network PID control, a torque distribution control system was designed. On the basis of the proposed coordinated control model, a performance simulation and a hardware-in-the-loop test of the control system under the typical working condition of single line shift were carried out. From the final results, it can be seen that the proposed control strategy can greatly improve the safety of the vehicle after serious side slip, increase the stability of the whole vehicle, and effectively increase the vehicle lateral stability.