Coordinated Control Method for Lateral Stability and Differential Power-Assisted Steering of In-Wheel Motor Drive Electric Vehicles

In order to improve the lateral stability and handling performance of in-wheel motor drive electric vehicles, a coordinated control method considering differential power-assisted steering is proposed. A vehicle dynamics model with two degrees freedom established, in which influence system disturbance considered. At same time, effect torque on was analyzed, designed based referenced wheel torque. response coupling relationship dynamic game problem between system, module Nash equilibrium theory, achieving comprehensive optimization multi-objective performance. Corresponding simulation tests were conducted co-simulation model, results show that proposed can achieve function while ensuring stability.