TY - JOUR
T1 - Exploring Vehicle Lateral Motion Limit
T2 - Neutral Steering Control for Dual-Motor All-Wheel-Drive Electric Vehicles
AU - Zhang, Lei
AU - Xu, Tongliang
AU - Wang, Zhenpo
AU - Sun, Fengchun
AU - Ding, Xiaolin
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2026/6/1
Y1 - 2026/6/1
N2 - Maximizing the utilization of lateral motion limits can significantly enhance vehicle safety under extreme driving conditions. This paper presents a neutral steering chassis coordinated control scheme to extend the lateral motion limits of Dual-Motor All-Wheel-Drive Electric Vehicles (DMAWD EVs). First, an optimization model is developed using the tire friction ellipse to determine the maximum lateral force. It is demonstrated that a vehicle can fully exploit its lateral motion limits under neutral steering. Then a driving torque allocation method for the front and rear axles and a sliding mode control method for the electro-hydraulic composite anti-lock braking system are designed to fulfill the driver's driving intentions under normal driving conditions. In extreme driving conditions, a torque vectoring control strategy is proposed to coordinate the motors' driving torques and the hydraulic braking force at each wheel, while a Smith predictor-based control scheme is introduced to enhance the hydraulic braking responsiveness. Furthermore, a coordinated pitch and roll attitude controller is developed to maintain neutral steering. Finally, the proposed control scheme is verified through comprehensive testing on a Hardware-in-the-Loop platform. Results indicate that the maximum lateral acceleration increases by 18.14% under the open-loop sine steering scenario. The proposed control scheme renders DMAWD EVs to have comparable performance with four-wheel-independent-drive electric vehicles.
AB - Maximizing the utilization of lateral motion limits can significantly enhance vehicle safety under extreme driving conditions. This paper presents a neutral steering chassis coordinated control scheme to extend the lateral motion limits of Dual-Motor All-Wheel-Drive Electric Vehicles (DMAWD EVs). First, an optimization model is developed using the tire friction ellipse to determine the maximum lateral force. It is demonstrated that a vehicle can fully exploit its lateral motion limits under neutral steering. Then a driving torque allocation method for the front and rear axles and a sliding mode control method for the electro-hydraulic composite anti-lock braking system are designed to fulfill the driver's driving intentions under normal driving conditions. In extreme driving conditions, a torque vectoring control strategy is proposed to coordinate the motors' driving torques and the hydraulic braking force at each wheel, while a Smith predictor-based control scheme is introduced to enhance the hydraulic braking responsiveness. Furthermore, a coordinated pitch and roll attitude controller is developed to maintain neutral steering. Finally, the proposed control scheme is verified through comprehensive testing on a Hardware-in-the-Loop platform. Results indicate that the maximum lateral acceleration increases by 18.14% under the open-loop sine steering scenario. The proposed control scheme renders DMAWD EVs to have comparable performance with four-wheel-independent-drive electric vehicles.
KW - Dual-motor all-wheel-drive electric vehicles
KW - chassis coordinated control
KW - lateral motion limit
KW - neutral steering
UR - https://www.scopus.com/pages/publications/105022455783
U2 - 10.1109/TVT.2025.3634595
DO - 10.1109/TVT.2025.3634595
M3 - Article
AN - SCOPUS:105022455783
SN - 0018-9545
VL - 75
SP - 9716
EP - 9730
JO - IEEE Transactions on Vehicular Technology
JF - IEEE Transactions on Vehicular Technology
IS - 6
ER -