Skip to main content
SpringerLink
Log in

A Study on Lateral Stability Control of Distributed Drive Electric Vehicle Based on Fuzzy Adaptive Sliding Mode Control

  • Chassis, Electrical and Electronics, Vehicle Dynamics and Control
  • Published:
International Journal of Automotive Technology Aims and scope Submit manuscript

Abstract

This paper presents a joint sliding mode control algorithm with fuzzy adaptive gain to address the problem that the lateral stability of distributed drive electric vehicles is affected by system parameter perturbation and external environment disturbances under steering conditions. The control system is designed by considering the influence of road conditions and tire nonlinearity, taking the yaw rate and sideslip angle as control variables. The difference between the expected value and the actual value of the control quantity is taken as the input to obtain the expected front-wheel angle for feedback correction. Aiming at the problem that it is difficult to obtain the critical driving state parameters of vehicles and to directly measure the road adhesion coefficient which affects the vehicle's lateral stability, this paper presents a simplified unscented Kalman filter observer which is designed to dynamically estimate the vehicle state parameters and road adhesion coefficient for the lateral stability controller. Based on CarSim and MATLAB/Simulink, a co-simulation model is developed and verified under different working conditions. The results reveal that the proposed lateral stability control algorithm effectively reduces the front wheel steering angle, improving the vehicle's handling stability while reducing the driver's operating burden and improving driving safety.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18

Similar content being viewed by others

Data availability

Data in this paper is available for the journal.

References

  • Alipour, H., Sabahi, M., & Sharifian, M. (2015). Lateral stabilization of a four-wheel independent drive electric vehicle on slippery roads. Mechatronics, 30, 275–285.

    Article  Google Scholar 

  • Chen, L., Bian, M., Luo, Y., & Ke, Li. (2015). Real-time identification of the tyre–road friction coefficient using an unscented Kalman filter and mean-square-error-weighted fusion. Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering., 230 (6), 788–802.

    Google Scholar 

  • Chen, T., Xing, X., Long, C., Jiang, H., Cai, Y., & Yong, L. (2018). Estimation of longitudinal force, lateral vehicle speed and yaw rate for four-wheel independent driven electric vehicles. Mechanical Systems & Signal Processing., 101, 377–388.

    Article  Google Scholar 

  • Chen, T., Xu, X., Li, Y., Wang, W., & Chen, L. (2017). Speed-dependent coordinated control of differential and assisted steering for in-wheel motor driven electric vehicles. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering., 232, 1206–1220.

    Google Scholar 

  • Chu W (2016) State estimation and coordinated control for distributed electric vehicles. In: Coordinated control of distributed electric vehicles. Springer. Berlin Heidelberg

  • Chu, W., Luo, Y., Chen, L., & Li, K. (2013). Joint observation of odorless particle filter state parameters for distributed electric drive vehicles. Chinese Journal of Mechanical Engineering., 49 (24), 117–127.

    Article  Google Scholar 

  • Geng, G. Q., Li, H., Jiang, H., Chen, J., & Tang, B. (2021). Research on active centering control of electro hydraulic coupling steering system for commercial vehicles. Automotive Engineering., 43 (06), 899–908.

    Google Scholar 

  • Guo, L., Ge, P., & Sun, D. (2019). Fuzzy-sliding mode control based yaw stability control algorithm for four-in-wheel-motor drive electric vehicle. In: 2019 3rd Conference on Vehicle Control and Intelligence (CVCI), Hefei, China

  • Guo, X., Chen, Y., & Li, H. (2020). Research on steering stability control of electric vehicle driven by dual in-wheel motor. In: 2020 10th Institute of Electrical and Electronics Engineers International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), pp 394–399

  • Han, Z., Xu, N., Chen, H., Huang, Y., & Zhao, B. (2018). Energy-efficient control of electric vehicles based on linear quadratic regulator and phase plane analysis. Applied Energy, 213, 639–657.

    Article  Google Scholar 

  • Jin, X., Yang, J., & Yin, G. (2020). Joint observation of dual unscented Kalman filter state parameters for distributed drive electric vehicles. Chinese Journal of Mechanical Engineering., 55 (22), 93–102.

    Google Scholar 

  • Liu, J. (2019). MATLAB simulation of sliding mode variable structure control. Tsinghua University Press.

    Google Scholar 

  • Sun, Z., Wang, R., Ye, Q., Wei, Z., & Yan, B. (2020). Investigation of intelligent vehicle path tracking based on longitudinal and lateral coordinated control. IEEE Access., 8, 105031–105046.

    Article  Google Scholar 

  • Wan, W., Feng, J., Song, B., & Xinxin, Li. (2022). Huber-based robust unscented kalman filter distributed drive electric vehicle state observation. Energies, 14 (3), 750–761.

    Article  Google Scholar 

  • Wang, J., Dai, M., & Chen, N. (2016). Output feedback robust control of vehicle front wheel active steering considering parameter uncertainty. Journal of Southeast University (Natural Science Edition)., 46 (03), 476–482.

    Google Scholar 

  • Wang, J., Luo, Z., Wang, Y., Bin, Y., & Francis, A. (2018). Coordination control of differential drive assist steering and vehicle stability control for four-wheel-independent-drive EV. IEEE Transactions on Vehicular Technology, 67 (12), 11453–11467.

    Article  Google Scholar 

  • Wang, Z., Xue, X., & Wang, Y. (2018). State parameter estimation of distributed drive electric vehicle based on adaptive unscented Kalman filter. Journal of Beijing University of technology., 38 (07), 42–46.

    Google Scholar 

  • Wei, B., Chen, D., Geng, G., Hua, Y., & Jiang, H. (2018). A strong robust observer of distributed drive electric vehicle states based on strong tracking-iterative central difference Kalman filter algorithm. Advances in Mechanical Engineering., 10 (06), 17–27.

    Google Scholar 

  • Zhang, D., Liu, G. H., Zhou, H. W., & Zhao, W. (2018). Adaptive sliding mode fault-tolerant coordination control for four-wheel independently driven electric vehicles. IEEE Transactions on Industrial Electronics., 65, 9090–9100.

    Article  Google Scholar 

  • Zhao, Z., Chen, H., Yang, J., Xiao, W., & Zhu, Y. (2014). Estimation of the vehicle speed in the driving mode for a hybrid electric car based on an unscented Kalman filter. Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering., 229 (4), 437–456.

    Google Scholar 

  • Zhao, H., Chen, W., Zhao, J., Zhang, Y., & Chen, H. (2019). Modular integrated longitudinal, lateral, and vertical vehicle stability control for distributed electric vehicles. IEEE Transactions on Vehicular Technology., 68 (2), 1327–1338.

    Article  Google Scholar 

  • Zhou, W., & Qi, X. (2020). Vehicle driving state estimation based on multi-sensor information fusion. Automotive Engineering, 41 (1), 11–17.

    Google Scholar 

  • Zhou, H., Jia, F., & Jing, H. (2018). Coordinated longitudinal and lateral motion control for four wheel independent motor-drive electric vehicle. IEEE Transactions on Vehicular Technology., 67, 3782–3790.

    Article  Google Scholar 

  • Zhu, X. Y., Zhang, H., & Wang, J. M. (2015). Robust lateral motion control of electric ground vehicles with random network-induced delays. IEEE Transactions on Vehicular Technology, 64, 4985–4995.

    Article  Google Scholar 

  • Zou, Y., Guo, N., & Zhang, X. (2019). An integrated control strategy of path following and lateral motion stabilization for autonomous distributed drive electric vehicles. Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering., 235 (4), 095440701988416.

    Google Scholar 

Download references

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grant 51675235, and in part by the Key R&D plan of Jiangsu Province under Grant 2019-9-1, and in part by the Taizhou Mass Innovation Talent (Team) Introduction Plan under Grant TZSC2018-103, and in part by The Primary Research & Development Plan of Jiangsu Province under Grant BE2017129.

Author information

Authors and Affiliations

  1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, 212013, China

    Guo Qing Geng, Peng Cheng & Li Qin Sun

  2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, China

    Xing Xu

  3. College of Engineering, Informatics, and Applied Sciences, Northern Arizona University, 336E Orange, St Tempe, AZ, 85281, USA

    Fanqi Shen

Authors
  1. Guo Qing Geng
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Peng Cheng
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Li Qin Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Xing Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Fanqi Shen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Guo Qing Geng.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Geng, G.Q., Cheng, P., Sun, L.Q. et al. A Study on Lateral Stability Control of Distributed Drive Electric Vehicle Based on Fuzzy Adaptive Sliding Mode Control. Int.J Automot. Technol. (2024). https://doi.org/10.1007/s12239-024-00099-3

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s12239-024-00099-3

Keywords

Search

Navigation