This paper combines the electric stability control (ESC) and drive force assisted steering (DFAS) into a novel coordinated control algorithm for distributed driving electric vehicles. Specifically, a correction factor ki was introduced to modify the driving force and fuzzy control rules were designed for different vehicle attitudes and lane change conditions. On this basis, the author determined the basic framework of the coordinated control algorithm. Then, the proposed algorithm was verified through simulation tests and real-vehicle experiments. The results show that the proposed algorithm ensures good stability and steering performance and is feasible for the control of distributed driving electric vehicles.
vehicle dynamics, distributed driving electric vehicle, electric stability control (ESC), drive force assisted steering (DFAS)
This work is supported by National Natural Science Foundation of Jilin (No. 20150101037JC).
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