A traction control strategy based on optimal slip ratio for the in-wheel motor electric vehicle while steering

This paper presents a traction control strategy based on optimal desire slip ratio regulation for the in-wheel motor electric vehicle while cornering on the low friction coefficient road. The nonlinear model with vehicle dynamic behavior affected by such as tyre force, yaw rate and sideslip angle is firstly established. By using Dugoff tyre force model and the moving horizon optimal strategy, a programming problem of optimal desire slip ratio is furthermore presented in order to avoid understeer and oversteer. It is however difficult to compute on-line for the moving horizon optimal strategy. For this reason, an optimal desire slip ratio MAP according to off-line moving horizon optimal strategy is proposed. The simulation results show that the traction control performance is improved for the in-wheel motor electric vehicle while steering.