Fully electric vehicles with individually controlled drivetrains can provide a high degree of drivability and vehicle safety, all while increasing the cornering limit and the 'fun-to-drive' aspect. This paper investigates a new approach on how sideslip control can be integrated into a continuously active yaw rate controller to extend the limit of stable vehicle cornering and to allow sustained high values of sideslip angle. The controllability-related limitations of integrated yaw rate and sideslip control, together with its potential benefits, are discussed through the tools of multi-variable feedback control theory and non-linear phase-plane analysis. Two examples of integrated yaw rate and sideslip control systems are presented and their effectiveness is experimentally evaluated and demonstrated on a four-wheel-drive fully electric vehicle prototype. Results show that the integrated control system allows safe operation at the vehicle cornering limit at a specified sideslip angle independent of the tire-road friction conditions.
Lu, Q., Gentile, P., Tota, A., Sorniotti, A., Gruber, P., Costamagna, F., & De Smet, J. (2016). Enhancing vehicle cornering limit through sideslip and yaw rate control. Mechanical Systems and Signal Processing, 75, 455–472. https://doi.org/10.1016/j.ymssp.2015.11.028