An integrated stability control system for decentralized drive electric vehicles

Electronic Stability Control (ESC) and Traction Control System (TCS) have progressed considerably, but there is seldom research on integration between the two active safety control systems. This paper proposes an integrated stability control system which combines the two modules cooperatively in order to achieve optimal torque distribution for decentralized electric vehicles (EVs) and constraint the wheel slip. The integrated stability control system has a hierarchical structure. A TCS module is employed in the under layer to adjust the torque command from the ESC module and generates the actual torque. By analysis and comparison with prior control methods, simulation results demonstrate that the proposed integrated stability control system can enhance the handling stability and constraint the wheel slip.