Vehicle Dynamic Control for In-Wheel Electric Vehicles Via Temperature Consideration of Braking Systems

Abstract−Vehicle dynamic control (VDC) systems play an important role with regard to vehicle stability and safety when turning. VDC systems prevent vehicles from spinning or slipping when cornering sharply by controlling vehicle yaw moment, which is generated by braking forces. Thus, it is important to control braking forces depending on the driving conditions of the vehicle. The required yaw moment to stabilize a vehicle is calculated through optimal control and a combination of braking forces used to generate the calculated yaw moment. However, braking forces can change due to frictional coefficients being affected by variations in temperature. This can cause vehicles to experience stability problems due an improper yaw moment being applied to the vehicle. In this paper, a brake temperature estimator based on the finite different method (FDM) was proposed with a friction coefficient estimator in order to solve this problem. The developed braking characteristic estimation model was used to develop a VDC cooperative control algorithm using hydraulic braking and the regenerative braking of an in-wheel motor. Performance simulations of the developed cooperative control algorithm were performed through cosimulation with MATLAB/Simulink and CarSim. From the simulation results, it was verified that vehicle stability was ensured despite any changes in the braking characteristics due to brake temperatures.