Stability Hierarchical Control Strategy for Distributed-Driving Electric Vehicle

A stability control strategy based on hierarchical control algorithm for distributed-driving electric vehicle was proposed, including three layers that were the active yaw moment calculating layer, the tire slip ratio calculating layer and the slip tracing layer based ABS/ASR. A hardware-in-the-loop containing a set of dual-motor driving power train was built to verify the strategy. Compared with traditional ones, the mentioned strategy can improve handling stability with less velocity reducing even when part of actuators failure.