Observation of Dynamic State Parameters and Yaw Stability Control of Four-Wheel-Independent-Drive EV

Vehicle yaw stability control is an important part of the active safety of electric vehicles. In order to realize the yaw stability control of vehicles, this paper takes 4-WID electric vehicles as the research object, studies the nonlinear estimation of the state parameters of the lateral stability dynamic system and the yaw stability control strategy. The vehicle state parameter estimation strategy, based on the unscented Kalman filter (UKF) algorithm and the model predictive control algorithm, are designed to control the vehicle yaw stability, which realizes the safe and stable driving of the vehicle. Through CarSim–Simulink joint simulation and hardware-in-the-loop (HIL) experiments based on MicroAutoBox, the effectiveness and real-time performance of the designed control strategy are fully verified, which accelerate the development process of the vehicle controller, and realizes the safe and stable driving of the vehicle.

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Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory

Mathematical Problems in Engineering ◽

10.1155/2020/6793821 ◽

2020 ◽

Vol 2020 ◽

pp. 1-17

Author(s):

Yilin He ◽

Jian Ma ◽

Xuan Zhao ◽

Ruoyang Song ◽

Xiaodong Liu ◽

...

Keyword(s):

Electric Vehicles ◽

Control Strategy ◽

Coordinated Control ◽

Stability Control ◽

Lateral Acceleration ◽

Vague Set ◽

Yaw Rate ◽

Stability Performance ◽

Control Target ◽

Simulation Results

Aiming at improving the tracking stability performance for intelligent electric vehicles, a novel stability coordinated control strategy based on preview characteristics is proposed in this paper. Firstly, the traditional stability control target is introduced with the two degrees of freedom model, which is realized by the sliding mode control strategy. Secondly, an auxiliary control target further amending the former one with the innovation formulation of the preview characteristics is established. At last, a multiple purpose Vague set leverages the contribution of the traditional target and the auxiliary preview target in various vehicle states. The proposed coordinated control strategy is analyzed on the MATLAB/CarSim simulation platform and verified on an intelligent electric vehicle established with A&D5435 rapid prototyping experiment platform. Simulation and experimental results indicate that the proposed control strategy based on preview characteristics can effectively improve the tracking stability performance of intelligent electric vehicles. In the double lane change simulation, the peak value of sideslip angle, yaw rate, and lateral acceleration of the vehicle is reduced by 13.2%, 11.4%, and 8.9% compared with traditional control strategy. The average deviations between the experimental and simulation results of yaw rate, lateral acceleration, and steering wheel angle are less than 10% at different speeds, which demonstrates the consistency between the experimental and the simulation results.

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