Integrated control strategy for torque vectoring and electronic stability control for in wheel motor EV

With the recent advancement of control method and battery technology, the electric vehicle has been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the in-wheel motors has some advantages in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment of vehicle with steering angle and it can improve the vehicle stability in cornering. In this paper, we consider a method for improving the stability and manoeuvrability of In-wheel motor electric vehicle with the torque vectoring and electronic stability control (ESC). We created a mathematical model for torque vectoring, ESC and vehicle dynamics and determined operation range of torque vectoring and ESC using value of difference between yaw rate and desired yaw rate. Simulation results show that the method can improve the stability and manoeuvrability of In-wheel motor electric vehicle in cornering.