3306 Roll and Pitch Control using Positive and Negative Anti-dive Force for Electric Vehicle with Four In-wheel Motors

Abstract

In this paper, roll angle and pitch angle control method using positive and negative anti-dive force for electric vehicle (EV) which has four in-wheel motors is proposed. The proposed method can generate the roll moment and pitch moment by properly allocating the driving force of each wheel. This method improves vehicle stability, safety and riding comfort during braking and cornering. The effectiveness of the proposed method is verified by simulation and experimental results.