Integrated Control for Four-Wheel-Independent-Drive EVs’ Lateral Stability and Rollover Prevention

In order to improve the maneuverability of Four-Wheel-Independent-Drive (4WID) EVs with high center of gravity while guaranteeing rollover stability, a coordinated stability control system is proposed to maximize driving velocity and enhance vehicle stability in cornering. A nonlinear vehicle model is used in the supervisor controller to determine the control target and then model predictive control (MPC) is designed to mitigate the delay effect of vehicle dynamics and also take the combined slip effect into account. Numerical simulations have been conducted to evaluate the proposed stability control system, which show that vehicle maneuverability, lateral stability and rollover mitigation performance can be significantly improved.