Electric vehicle yaw moment control based on the body sideslip estimation

The direct yaw moment control (DYC) presents an operative solution to improve the stability and road holding of vehicles, in particular electric vehicles equipped with independent motors. The torque control applied to each wheel can improve the handling performance of a vehicle making it safer and faster and in critical driving situations. In this article, a new method proposed for the control of the direct yaw moment based on the sliding mode control. This method uses a new design of switching function to simultaneously track the desired yaw rate and the side slip of the vehicle. The lateral sideslip angle of the vehicle is estimated by using a Kalman filter. The results of the comparative simulations show the effectiveness of the proposed method with the other conventional methods in terms of following the reference yaw rate, the vehicle trajectory and the vehicle skidding in various difficult driving scenarios