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Mathematical Problems in Engineering
Volume 2018, Article ID 6080763, 15 pages
Research Article

Lateral Stability Control of Four-Wheel Independent Drive Electric Vehicles Based on Model Predictive Control

Hubei Key Laboratory of Advanced Technology of Automobile Parts, School of Automotive Engineering, Wuhan University of Technology, Wuhan 430070, China

Correspondence should be addressed to Xiang Fu; nc.ude.tuhw@gnaixuf

Received 8 July 2017; Revised 9 November 2017; Accepted 13 December 2017; Published 7 February 2018

Academic Editor: Tran H. Linh

Copyright © 2018 Bin Huang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Four-wheel independent drive electric vehicle was used as the research object to discuss the lateral stability control algorithm, thus improving vehicle stability under limit conditions. After establishing hierarchical integrated control structure, we designed the yaw moment decision controller based on model predictive control (MPC) theory. Meanwhile, the wheel torque was assigned by minimizing the sum of consumption rates of adhesion coefficients of four tires according to the tire friction ellipse theory. The integrated simulation platform of Carsim and Simulink was established for simulation verification of yaw/rollover stability control algorithm. Then, we finished road experiment verification of real vehicle by integrated control algorithm. The result showed that this control method can achieve the expectation of effective vehicle tracking, significantly improving the lateral stability of vehicle.