Handling Stability Hierarchical Control of Distributed Drive Electric Vehicle Based on Adaptive Dynamic Programming

In this paper, a hierarchical torque control strategy is presented that aims to improve the yaw stability of electric vehicles with distributed propulsion by using adaptive dynamic programming (ADP) under multiple constraints. First, the problem of yaw stability in the upper layer is reformulated as an optimisation problem. An ADP algorithm is employed to compute the optimal additional yaw moment. Constraints related to driving force, additional yaw moment and actuator limitations are considered in the lower layer. Optimum distribution of torque to the four wheels is then achieved using a quadratic programming algorithm to ensure stable vehicle handling. Finally, joint simulations using Carsim and Simulink are used to validate the effectiveness of the proposed strategy. The system's handling stability is assessed under steering-wheel angle step input conditions and during a snake test, in accordance with international standards.