Four-Wheel-Independent-Driving Electric Vehicles Stability Control Based on Yaw Rate and Side Slip Angle

Abstract In this paper, a nonlinear system state observer and a vehicle upper controller suitable for a four-wheel independent drive vehicle have been proposed. The observer uses Unscented Kalman Filter to observe the longitudinal speed, lateral velocity and yaw rate of the vehicle, and then calculates the side slip angle of the vehicle. The upper controller adopts the control method of yaw rate and side slip angle combined with Sliding Mode Control to calculate the target yaw moment. Finally, the CARSIM-MATLAB co-simulation is carried out to verify the proposed control strategy. The simulation results indicate that the proposed control strategy enables the vehicle to effectively track the target yaw rate and side slip angle simultaneously, ensuring vehicle stability and safety.