Stability control for eight-axle independent in-wheel motor drive vehicle considering the effects of steering angle

In view of the poor stability of multi-axle vehicle with its rear axle involved in steering, the stability control of an eight-axle electric drive vehicle is studied in this paper. Firstly a yaw moment controller is designed based on variable weighting factors for multi-parameters and optimal control algorithm, and a rule-based yaw-moment distributing strategy and a vehicle driving safety-oriented driving force adjustment strategy are proposed with consideration on the effects of turning angle change in steering on the distribution of driving force. Then a 2 DOF control system model and a 3D vehicle dynamics model are established and an upper layer controller for calculating compensating yaw-moment and a lower layer controller for the driving force distribution between wheels are designed. Finally a simulation on the double lane change path tracking for closed-loop driver model is conducted. The results indicate that the vehicle stability controller established effectively improves the high-speed driving stability of eight-axle vehicle. © 2016, Society of Automotive Engineers of China. All right reserved.