Study of the integrated control for 4WID/4WIS electric vehicle yaw stability

Study the yaw stability integrated control method and regenerative braking efficiency of 4WID/4WIS electrical vehicle during steering operation. Divided DYC system into Drive-DYC and Brake-DYC system, proposed a hierarchical control structure, which giving priority to Braking-DYC system, start AFS/ARS system and Drive-DYC system work according to the requirements of vehicle yawing response, coordinated steering angle of front/rear wheel based on the synthesis adhesion coefficient of tire. Compared simulation results indicated that the hierarchical strategy can integrated RBS DYC AFS/ARS ABS/TCS effectively, which can increase the rate of energy feedback and enhanced the vehicle lateral stability.