Control allocation in the dynamic control of an eight in-wheel motored vehicle

An eight wheel independent driving / four wheel independent steering (8WID4WIS) electric vehicle (EV), which is equipped with eight in-wheel motors and a steer-by-wire system, is studied in this paper. A hierarchically coordinated vehicle dynamics control system, including a high-level vehicle motion controller, control allocation scheme, and a lower-level slip/slip angle controller, is proposed for the vehicle system. The high-level controller is designed to produce generalized forces/moment, distributed to slip/slip angle of each tire by an advanced control allocation method. Evaluation of the overall system is accomplished by simulation testing under adverse driving conditions, including sine with dwell and braking through split-μ surface.