2014
DOI: 10.1109/itec-ap.2014.6941186
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Abstract: This brief paper focuses on longitudinal force distribution on a four-wheel-independent-drive electric vehicle for improving yaw stability performance. A longitudinal force control allocation method based on differential driving and differential braking is presented in this paper. A hierarchical coordinated control strategy is developed. The upper controller is designed to determine the generalized moment required to keep vehicle in stability region. The lower controller is designed to distribute braking forc…

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