Relaxed static stability based on tyre cornering stiffness estimation for all-wheel-drive electric vehicle

A novel dynamics control approach for all-wheel-drive electric vehicle (EV), relaxed static stability (RSS) approach is proposed with two advantages. Firstly, it allows vehicle lateral dynamics system to be inherent unstable to improve configuration flexibility. Secondly, handling performance could be improved based on closed-looped pole assignment with additional yaw moment. In this paper, basic control framework of RSS is proposed, including 'Desired Pole Location', 'Pole Assignment' and 'Tyre Cornering Stiffness Estimation' modules. The tyre cornering stiffness is estimated online to improve the robustness of the controller. The experiments based on an EV testbed show the performance and efficiency of RSS.