Lateral stability control based on active motor torque control for electric and hybrid vehicles

This paper describes a method for controlling lateral stability of electric and hybrid vehicles utilizing multiple electric motors connected to independent wheels of the vehicle. This lateral stability control strategy is implemented and tested with in a simulation environment s and the effects of the controller on sideslip angle stabilization lateral and roll rate dynamics is analyzed. For this implementation independent motor torque control based on utilizing LQR and PID control strategies are used to generate positive drive and negative brake torques for imposing an aligning moment around the yaw axis resulting in the lateral stability functionality. The developed algorithms were implemented and their performance are tested and compared in Matlab-Simulink environment simulations and the dynamic performance characteristics were reported with numerical simulation results.