CORNERING STIFFNESS AND SLIP ANGLE ESTIMATION OF ELECTRIC VEHICLE FOR DIRECT YAW-MOMENT CONTROL

In this paper, three estimation methods of cornering stiffness are proposed based on yaw-moment observer (YMO). First, a simple method is developed under the assumption that cornering stiffness coefficients of front and rear wheels are identical. A novel direct yaw-moment control (DYC) with this estimation is proposed for electric vehicles with in-wheel motors. Second, a sophisticated method is introduced which can identify the front and rear cornering stiffness independently as well as it can estimate the side-slip angle of vehicle. Third, the observability of side-slip angle is enhanced by the accelerometer of vehicle lateral motion. Simulation and experiments are carried out to show the advantages of proposed methods.