Running stabilization control of electric vehicle based on cornering stiffness estimation

In this paper, novel direct yaw moment control (DYC) with road condition estimation and anti‐slip control is proposed for electric vehicles. An inner‐loop observer controls the vehicle traction, and an outer‐loop observer stabilizes the yawing motion of the vehicle. An immeasurable parameter known as cornering stiffness is estimated from the detected yaw‐rate, steering angle, wheel speed and yaw moment observer output in real time. Thus, the accurate control input can be generated with the estimated parameters. The proposed adaptive control is compared with a conventional robust control method under dry and snowy terrain conditions. Experimental results show that the proposed control algorithm properly attenuates the yaw‐rate error. ©2008 Wiley Periodicals, Inc. Electr Eng Jpn, 166(4): 97–104, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20569