Mixed Longitudinal - Lateral Stability Control of Electric Vehicle Based on Online Tire - Road Friction Coefficients Estimation

Document Type : Research Article

Authors

Department of Mechanical engineering, University of Tabriz, Tabriz, Iran

Abstract

In this paper, a two-layer stability control system based on output feedback is designed for electric vehicles with four in-wheel motors using super twisting sliding mode control and extended Kalman filter. The joint-extended Kalman filter method is used at the same time for estimating the state of the vehicle and the friction coefficients between the wheels and the road. In the upper layer controller, the control torque required to ensure the lateral stability of the vehicle is calculated. In the second layer, by using torque vectoring, the required traction forces for each wheel are determined so that the control torque calculated in the first layer is provided. Then the corresponding slip rates are calculated for the new adjusted longitudinal forces. Using the obtained slip rates as the desired slip rate for each wheel, the required wheel torques are computed by using appropriate longitudinal controller. Using the Kalman filter largely eliminates the effects of sensor noise and structural uncertainty on estimated parameters. The present algorithm can calculate the control inputs for the lateral and longitudinal control of the vehicle, as well as estimate the state of the system and estimate the friction coefficients between the wheels and the road at the same time. The results show the efficiency of the designed control system which is discussed on different maneuvers.

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References

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AUT Journal of Mechanical Engineering
Volume 9, Issue 1
2025
Pages 33-52

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