Direct Yaw Moment Control of Electric Vehicle for Improving The Vehicle Lateral Stability

In this paper, an advanced control method using the direct yaw moment control (DYC) is proposed with the intent of increasing the stability and comfort of the Electric Vehicles. The control scheme is based on the state estimation of the body slip angle β and tire cornering stiffness \pmbC. The body slip angle β observer is designed using Extended Kalman filter, and the tire cornering stiffness C is designed using Forgetting factor recursive least squares method (FFRLS). After that, the desired yaw rate γd is calculated using the estimating state variables. The vehicle slip-Angle is also very important for the vehicle stability, so calculation of the desired yaw rate also restrict the vehicle body slip-Angle in a stable range at the same time. There are many different conditions of vehicle driving, so a Fuzzy controller is designed to make the control system have strong robustness and adaptivity. By controlling the direct yawing moment Mz, the vehicle is controlled to track γd, Finally, the effectiveness of this control approach has been demonstrated in simulations.