Abstract
Over the last decade, research and development on electrified powertrain have experienced tremendous growth and set up the scene for electrified revolution on several others actuation types within the vehicle (i.e. suspension, braking and traction). Recent development on autonomous driving also increase the demand on more autonomous and fast response actuation. The aforementioned electrification and autonomy are the main drivers to start developing control systems that takes into account the entire picture of the vehicle motion on various vehicle modes. The main aim of this paper is to demonstrate and implement a direct yaw control via electric machines. In this paper, the deceleration only element of this system is demonstrated on simulation and with experimental data. Sliding Mode Control (SMC) is implemented to decelerate the vehicle in longitudinal mode and compensate any yaw instabilities during severe slip events.
KEYWORDS Drive-by-wire, regenerative braking, slip control, motion control, direct yaw control