Abstract: The yaw and roll movement of in-wheel motors drive electric vehicles can be suppressed by differential drive, which can improve the vehicle lateral stability. However, due to the constraints of in-wheel motors control torque and road adhesion force, the control capability is weak. In order to improve the ability of lateral stability control, the chassis cooperative control method integrated differential drive, active steering and active suspensions is proposed. According to the characteristics of in-wheel motors drive electric vehicles, the lateral instability mechanism is analyzed. The front wheel active steering controller is designed based on the model predictive control. The yaw stability control torque are solved by the proposed variable coefficient exponential approach rate, and the roll control torque is calculated by optimal control. Finally, the lateral stability controllers of integrated differential drive, active steering and active suspension are constructed, and the simulation verification of vehicle lateral stability coordination control is further completed. The research shows that the proposed coordinated lateral stability control method can effectively control the yaw and roll motion of the vehicle, and converge them in the ideal control domains, which provides theoretical support for the active safety control of the in-wheel motors drive electric vehicles.

Key words: electric vehicle, differential drive, active steering, active suspension, lateral stability, chassis cooperative control