Multi-Objective Coordination Control Strategy of Distributed Drive Electric Vehicle by Orientated Tire Force Distribution Method

In order to improve the extension mileage and ensure the yaw stability of the distributed drive electric vehicle simultaneously, a multi-objective coordination control strategy is presented in this paper, in which the optimal vehicle-state estimation method and the orientated tire force distribution method are designed. The longitudinal force estimation is designed using the unknown input observer Kalman filter, a novel yaw rate and a vehicle sideslip angle estimation scheme is proposed by an observer error compensation method. A multi-objective hierarchical vehicle motion control strategy is developed to monitor the yaw stability and improve the energy efficiency of vehicle in real time. In the upper layer controller design, a sliding mode controller is proposed to track the desired yaw rate. In the lower layer controller design, the orientated tire force distribution scheme is presented to improve the motor efficiency and reduce the energy loss caused by vehicle steering resistance while ensuring the yaw stability of vehicle. Finally, the effectiveness of the proposed estimation method and the global coordination control strategy is validated by simulation in CarSim-Simulink joint platform and road test.