Energy-Efficient Direct Yaw Moment Control forIn-Wheel Motor Electric Vehicles Utilising Motor Efficiency Maps

An active energy-efficient direct yaw moment control (DYC) for in-wheel motor electricvehicles taking motor efficiency maps into consideration is proposed in this paper. The potentialcontribution of DYC to energy saving during quasi-steady-state cornering is analysed. The study inthis paper has produced promising results which show that DYC can be used to reduce the powerconsumption while satisfying the same cornering demand. A controller structure that includes adriver model and an offline torque distribution law during continuous driving and cornering isdeveloped. For comparison, the power consumption of stability DYC is also analysed. Simulations fordouble lane change manoeuvres are performed and driving conditions either with a constant velocityor with longitudinal acceleration are designed to verify the effectiveness of the proposed controller indifferent driving situations. Under constant velocity cornering, since the total torque demand is nothigh, two rear wheels are engaged and during cornering it is beneficial to distribute more torque toone wheel to improve energy efficiency. In the simulated driving manoeuvres, up to 10% energy canbe saved compared to other control methods. During acceleration in cornering, since the total torquedemand is high, it is energy-efficient to use all the four in-wheel motors during cornering.