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Outline
Aiming at the stability issues of disributed drive electric vehicles attributed to the response discrepancies of in-wheel motors, such as loss of control, understeer and oversteer, the paper proposes a hierarchical vehicle stability control framework. The upper layer incorporates an additional yaw moment controller designed using Model Predictive Control (MPC), which computes the required corrective yaw moment online to track both the desired yaw rate and the sideslip angle at the vehicle's center of mass. The lower layer performs optimal four-wheel torque allocation while coordinating vehicle stability and energy efficiency. A co-simulation platform combining Simulink and CarSim is developed, and straight-line driving and double-lane-change maneuvers are selected for validation. To assess the effectiveness of the MPC-based controller, comparative simulations are conducted against a reference upper-layer controller based on Sliding Mode Control (SMC). The results indicate that the proposed hierarchical strategy effectively compensates for motor response discrepancies, enhances vehicle stability, and improves overall driving economy. The simulation results demonstrate that under the straight-line driving scenario, the proposed MPC strategy reduces the lateral deviation from 13.01 m to 1.71 m, achieving a control efficiency of 86.9%, while simultaneously decreasing motor energy consumption by approximately 6.8%. In the double lane change maneuver, the strategy effectively suppresses the oscillations of both yaw rate and sideslip angle. These results validate that the proposed hierarchical control strategy can effectively compensate for the impact of hub motor response discrepancies, thereby significantly enhancing driving stability and improving overall vehicle energy efficiency.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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