Electronic Stability Control for Improving Stability for an Eight In-Wheel Motor-Independent Drive Electric Vehicle

Figure 17

HIL simulation results: (a) trajectory; (b) longitudinal speed; (c) yaw rate; (d) side slip angle; (e) side slip angle change rate; (f) side slip angle and its rate.

(a)

(b)

(c)

(d)

(e)

(f)