Cornering stability improvement for 4 wheel drive hybrid electric vehicle

Cornering stability of 4 wheel drive hybrid electric vehicle has been analyzed and improved, where the front motor and the rear motors are used to drive the vehicle. For the control of the motors, a model reference sliding mode controller is designed to generate the additional yaw moment for the vehicle. The algorithms for the motor driving and the yaw rate control for the 4 wheel drive hybrid electric vehicle have been developed considering the cornering stability based on the reference model for the vehicle. The reference model is described by the two degree of freedom vehicle dynamic state equations. Performance of the vehicle stability control algorithm is evaluated using ADAMS and MATLAB Simulink programs.