Research on Stability Control of Distributed Drive Vehicles Under the Influence of Rough Road Surface

To improve the stability control capability of distributed electric drive vehicles on rough road surfaces, a hierarchical stability control strategy that considers road interference is proposed. In the upper-level controller, a new rollover energy stability index based on the energy method is designed. An enhanced sliding mode controller is employed to simultaneously control the yaw rate and the center-of-mass side slip angle as the control objectives. The sliding mode theory determines the additional yaw moment required for maintaining vehicle stability under road disturbances. The lower-level controller designs an optimal torque distribution strategy to allocate the yaw torque output, generated by the upper-level controller, to each wheel for achieving vehicle stability control. Joint simulations are conducted using CARSIM and MATLAB/Simulink to perform simulation experiments. The results demonstrate that this control method effectively enhances the stable steering control of distributed electric drive vehicles on rough roads, reduces the risk of vehicle sideslip and rollover during steering, and improves driving safety.