Research on Vehicle Stability Control of 4WD Electric Vehicle Based on Longitudinal Force Control Allocation

A vehicle stability control based on hierarchical control approach was introduced.Through the Weighted Least-Squares(WLS) control allocation algorithm,the longitudinal force of each tire(motor torque) was distributed considering the constraints to form the direct yaw moment.The experiment results show the respective longitudinal force of the four wheels has been effectively distributed according to the status of each wheel.And also the vehicle's yaw rate can follow the reference yaw rate excellently.The vehicle's yaw rate and lateral acceleration have been reduced,meanwhile,the vehicle handling and stability have been enhanced instead.