Combination of Active Braking and Torque Vectoring in Electronic Stability Control for Four-Wheel Independent Drive Electric Vehicle

Torque vectoring (TV) is a widely used technique to achieve stability control for independent wheel drive electric vehicle due to its velocity maintaining performance. However, in case of critical and emergency situations, active braking (AB) performs better in improving handling improvement. To improve overall handling performance in the critical situation, combination of TV and AB is introduced in this paper. Yaw rate and vehicle sideslip rate are used as a control parameter in PID controller to determine motor torques and brake pressures. Brake force is applied at each wheel whenever motor brake torque is activated. With the contribution of AB, overall required motor torques for countering yaw moment are drastically reduced in four-wheel independent drive electric vehicle while similar stability performance can be achieved.