Coordinated control framework for lateral and roll stability in distributed-drive electric vehicles through torque vectoring and continuous damping control

Abstract

This article presents a coordinated control framework to enhance the lateral and roll stability of distributed-drive electric vehicles with electric driving, hydraulic braking, and continuous damping control systems. The control process begins with the upper-layer coordinated controller using the model predictive control algorithm to track nominal reference values, and compute the desired additional yaw moment and anti-roll moment for stability control. The required longitudinal forces are distributed by optimisation based on the total driving torque and yaw moment requirements. In the sequence, the tyre slip regulator calculates the optimal slip ratio from these forces and employs sliding mode control to achieve the desired output torque. For the electro-hydraulic braking torque distribution, a frequency-splitting strategy is utilised to optimise the overall braking performance. The suspension damping forces are also optimised based on load distribution and the physical constraints, improving roll stability. Simulation tests validate the framework’s effectiveness in enhancing lateral and roll stability, demonstrating robust dynamics control in varied driving scenarios.