Independent and integrated torque control of 4-wheel drive electric vehicle for automated driving

Abstract

This paper deals with a combined and integrated control of a four wheel independent drive (4WD) electric vehicle considering longitudinal and lateral dynamics for future automated driving applications. While automated vehicle technology becomes attractive due to its potential applications in automated highways and urban transportation, etc., the coupled and highly nonlinear nature of vehicle dynamic stability control has been challenging, in addition to vision and image processing, trajectory generation and path planning. A new algorithm of the vehicle-level integrated dynamic stability control (VIDSC) is proposed and developed employing four individual wheel torques as target control parameters, and the wheel slip ratios, body slip angle, wheel side slip angles are controlled within the inner feedback loop of the VIDSC algorithm, by adjusting four wheel torque values combined with sophisticated motor control on four sets of in-wheel motors. This integrated approach will help automated guidance control strategy by having efficient and simple architecture of vehicle dynamic control system. The controller algorithm has been simulated with dynamic model, and verified the results with experimental vehicle data on constant steering.