When the in-wheel motors drive intelligent vehicle (IWMDIV) turns and the outer wheels hit a pothole, the combination of the imbalance of the drive forces on both sides and the centrifugal force will cause the vehicle to become unstable. In order to avoid the above accidents, a driving stability control method based on drive torque distribution is proposed. Firstly, the instability evolution process of the vehicle under the stated condition is analyzed. Next, a multi-degree-of-freedom vehicle dynamics model including uneven road tire model is established and verified, and the vehicle’s instability mechanism is verified. Then, the dynamic coupling among IWMs, suspension and the body is analyzed. A H∞ sliding mode control (HSMC) is designed to improve the control accuracy of H∞ and the chattering of SMC, and it can also effectively improve the adjustment time (AT) of control. Based on the above, a driving stability controller is designed. Finally, the effectiveness of the controller is verified by simulation and experiment respectively. The results show that the controller can effectively control the instability and reduce the fluctuation of control variables. This provides a basis for improving the driving stability of IWMDIV on potholed roads.
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