Title: Stability control of distributed-drive electric vehicles based on model prediction

Authors: Zhaowen Deng; Yiming Zhou; Le Qiu; Wei Gao; Ming Li

Addresses: School of Intelligent Connected Vehicle, Hubei University of Automotive Technology, Shiyan, 442002, China; College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China ' School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan, 442002, China ' School of Intelligent Connected Vehicle, Hubei University of Automotive Technology, Shiyan, 442002, China ' School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan, 442002, China; College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China ' China Heavy Duty Truck Group Co., Ltd., Jinan, 250000, China

Abstract: To improve the stability of distributed drive electric vehicles under extreme operating situations, a hierarchical direct yaw moment controller (DYC) was constructed based on model predictive control (MPC). The upper layer uses MPC to calculate additional yaw moment, while the lower layer uses quadratic programming algorithm to allocate driving torque. Furthermore, a joint simulation model is established by using Trucksim and Simulink, the simulation results show that the MPC control proposed in this paper can effectively reduce the peak value of side slip angle, yaw rate and lateral acceleration of the vehicle. Under the condition of double lane change, compared with LQR control, the MPC control is improved by 41.10%, 10.65% and 2.93% respectively; under the condition of angle step, compared with LQR control, it increased by 28.64%, 9.38% and 3.96% respectively. Lastly, the effectiveness of the control strategy was validated through hardware-in-the-loop (HIL) test.

Keywords: distributed drive electric vehicles; model predictive control; MPC; quadratic programming; direct yaw moment control; hardware-in-the-loop; HIL; direct yaw moment controller; DYC.

DOI: 10.1504/IJVP.2026.152832

International Journal of Vehicle Performance, 2026 Vol.12 No.2, pp.189 - 213

Received: 27 Jan 2025
Accepted: 01 Jul 2025
Published online: 13 Apr 2026 *

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