차량의 조종성 및 횡방향 안정성을 고려한 4WD 하이브리드 차량의 주행제어 알고리즘

This paper describes a driving control algorithm for 4WD hybrid vehicle in order to improve both maneuverability and lateral stability. The 4WD hybrid vehicle is driven using two motors that provide independent front and rear wheel drive as well as regenerative braking capability. Also, the vehicle is equipped with independent braking control module. This paper focuses on the vehicle stability control strategy using independent front and rear wheel drive and independent braking control module. In this paper, the driving control algorithm consists of four parts: a supervisory controller that determines control mode and desired dynamics, upper level controller that computes a traction force input and a yaw moment input to track the desired dynamics, tire force distribution algorithm that determines an optimal desired tire force input and wheel torque controller that calculates a wheel torque input at each wheel in order to keep the slip ratio at each wheel below a limit value as well as to track the desired tire force input. Numerical simulation studies are conducted in order to evaluate the proposed driving control algorithm. It is found from simulation results that the proposed driving controller improves both vehicle maneuverability and lateral stability.