In this paper, a two-stage expectation stability controller was proposed for driving stability of four wheel independent drive electric vehicles. The proposed controller has three levels. There were three steps to the stability control of the vehicle. First, the three-dimensional state portraits were drawn based on the 14DOFs vehicle model and used the stem equation to find two-stage expectation. The surface was derived from the analysis of the tire-road adhesion divides the portraits into safe areas and unsafe areas. Second, the stability controller with sliding mode algorithm was designed. When the state parameter is in the unsafe areas, the safe boundary surface is taken as the first-stage expectation; after the system enters the safe areas, the stem is taken as the second-stage expectation. Then the fuzzy algorithm is applied to distribute the control demand of yaw moment to generate the torques of each in-wheel motor. Finally, simulation verification is performed in Simulink-CarSim co-simulation environment. The simulation results show that the designed control strategy can improve the lateral stability while the loss of longitudinal speed is within 3.25%.

本文针对四轮独立驱动电动汽车的行驶稳定性提出了一种两阶段期望稳定性控制器。建议的控制器具有三个级别。车辆的稳定性控制分为三个步骤。首先，三维状态的画像都是基于14DOFs车辆型号和使用的提请TEM方程找到两个阶段的期望。表面来自轮胎与道路附着力的分析，将人像分为安全区域和不安全区域。其次，设计了具有滑模算法的稳定性控制器。当状态参数处于不安全区域时，取安全边界面作为第一阶段期望；系统进入安全区域后，阀杆被视为第二阶段的期望。然后应用模糊算法分配横摆力矩的控制需求以产生每个轮毂电机的扭矩。最后，在 Simulink-CarSim 联合仿真环境中进行仿真验证。仿真结果表明，所设计的控制策略可以在纵向速度损失在3.25%以内的情况下提高横向稳定性。