A Wheel Slip Control Approach Integrated With Electronic Stability Control for Decentralized Drive Electric Vehicles

Wheel slip control, as a basis for vehicle stability control, prevents loss of traction. A new wheel slip control approach that does not require chassis velocity is proposed in this paper. The proposed approach uses the wheel speeds and the chassis acceleration measured on the acceleration sensor to estimate the maximum tire-road friction. Then, the motor torque is constrained using the maximum tire-road friction. To ensure the vehicle starts smoothly and to enhance its acceleration performance, a fuzzy controller is used to determine whether the output torque should be constrained. The main advantage of this approach is that it is indifferent to the vehicle mass and driving resistance. Hardware-in-the-loop (HIL) simulation results validated that the proposed approach could improve the vehicle stability when the vehicle corners on slippery conditions, which is attributable to the approach's robustness to vehicle mass and driving resistance. Moreover, HIL simulation proved that it was feasible to implement the proposed approach in real vehicles.