Lateral Stability Control Based on Active Motor Torque Control for Electric and Hybrid Vehicles

Abstract

This paper describes a method for lateral stability control of electric and hybrid vehicles utilizing multiple electric motors connected to independent wheels of the vehicle. Independent motor torque control based on LQR and PID are used to generate positive drive and negative brake torques for imposing an aligning moment around the yaw axis resulting in the lateral stability functionality. The developed algorithms were implemented and performance tested in Matlab-Simulink environment and the dynamic performance characteristics were reported with numerical simulation results.