In order to improve the steering stability of four-in-wheel-motor-driven electric vehicle under complex working condition, this paper proposed a stability control strategy with hierarchical structure for direct yaw moment control of four-in-wheel-motor-driven electric vehicle. Based on the vehicle reference model and actual vehicle state parameters, the fuzzy controller was designed to calculate the additional yaw moment in the upper layer, and the sideslip angle was estimated by using the Unscented Kalman filter algorithm. In the lower layer, a torque optimal distribution algorithm was developed with the consideration of the motor limited condition and road adhesion constraint. Then the control strategy model was established and verified under double lane change and sine hysteresis condition in the co-simulation environment of Matlab/Simulink and Carsim. The simulation results indicate that the proposed control strategy, comparing with the uncontrolled condition, can well tracking the lane and improve the steering stability of vehicle.
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