Li, G., Hong, W., and Liang, H., "Four-Wheel Independently Driven In-Wheel Motors Electric Vehicle AFS and DYC Integrated Control," SAE Technical Paper 2012-01-0258, 2012, doi:10.4271/2012-01-0258.
For four-wheel independently driven in-wheel motors electric vehicle, an integrated control algorithm of active front steering and direct yaw moment control based on model predictive control is proposed in this paper. The algorithm adopts hierarchical integrated control structure. The model predictive controller is designed and the driving force allocation is controlled by rules. The algorithm is verified by the simulation at last. The results show that the algorithm can make the vehicle track the desired response effectively and enhance the vehicle stability in critical running condition.