Coupling Control of Sideslip and Yaw Rate for Distributed Drive Vehicles via Torque Vector Control

Distributed drive vehicles, being typical over-actuated systems, hold immense potential in enhancing vehicle maneuverability and safety through the utilization of the four-wheel independent drive capability. This paper introduced a torque vector control (TVC) algorithm aimed at maximizing tire force utilization for each wheel and achieving coupled control of sideslip angle and yaw rate. The research begins by analyzing the steering hysteresis characteristics of the vehicle, proposing a crucial yaw rate to establish a dependable stability boundary. Employing a phase portrait analysis method, it determines the sideslip angle stability boundary and computes the target value essential for configuring the reference targets within the TVC algorithm. Subsequently, a hierarchical torque vector controller is devised, comprising three distinct components: The longitudinal force distribution layer focuses on achieving the road adhesion limit concurrently for the front and rear axles, optimizing their capabilities. The additional yaw moment control layer utilizes model predictive control to generate supplementary yaw moments for the vehicle. The wheel torque regulation layer integrates additional yaw moments, longitudinal drive force distribution requirements, and other constraints to efficiently distribute four-wheel torque based on the optimal tire adhesion rate. Ultimately, the effectiveness of the TVC algorithm is rigorously assessed through a representative experimental scenario.