Direct Yaw-moment Control method for electric vehicles to follow the desired path by driver

By using dynamic differential force between wheels, lateral motion of the electric vehicle can be controlled with yaw moment. This framework is known as “Direct Yaw-moment Control (DYC)”. In many previous researches, DYC method is apprlied for increasing the stability, but maneuverability has not been discussed sufficiently. Velocity dependency of the relationship between the steer angle and the vehicle path, which is called as the car handling condition, is one kind of maneuverability index for drivers. To achieve the desired path by driving, the car handling condition design is important. In this paper, a novel DYC method is proposed which gives the desired car handling condition. The proposed controller is derived based on the output zeroing method. The effectiveness of the proposed method is validated by numerical example.