Study of the integrated control for 4WID electric vehicle yaw stability based on optimal allocation

Study the yaw stability integrated control method and regenerative braking efficiency of 4WID electrical vehicle during steering operation. Presented an approach to allocate driving-braking torque from DYC system by linear programming method within tire adhesion range. Designed yaw stability control system which integrated RBS into DYC/ABS/TCS. Simulation results indicated the integrated control approach can improve yaw stability of 4WID vehicle and increase the rate of energy feedback during turning process on low adhesion road.