Design of optimal torque vectoring control system with predictive approach for improvement of stability and energy consumption in electric vehicle

In this paper, a control system with two layers is analytically designed using prediction-based optimal control method for nonlinear vehicle dynamics. In the first layer, an optimal external yaw moment for stabilizing the vehicle lateral dynamics is designed. After transforming this external yaw moment to differential forces between the four wheels and by using the inverse tire model for extraction of desired longitudinal slips, the desired values are sent to the second layer. In the second layer, each wheel motor regulates the control torque to track the desired slip. Since the energy consumption of battery is important in electric vehicles, considering the optimal control idea for designing the torque vectoring system reduces the battery consumption.Therefore, by examining suitable weighting factors, the electric motors are forced to operate within the admissible range and also the minimum usage of batteries are provided. The simulation results demonstrate that the designed control system has a suitable performance to cope with nonlinearities and consequently stabilizes the vehicle.