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<p>Drift control technology is critical for optimizing the dynamic performance and active safety of rear-wheel independent drive electric vehicles (RWIDEVs) during high-sideslip maneuvers. In this study, we propose a robust longitudinal force pre-distribution strategy that stabilizes drifting dynamics by coordinating sideslip angle regulation, yaw rate tracking, and velocity maintenance. Analysis of the drift steady-state indicates that tire saturation and pronounced sideslip are the defining features of these maneuvers. To address this, a steady-state estimator is developed to compute the reference values for key steady-state parameters. For steady-state drift control implementation, we design a linear quadratic regulator (LQR)-based controller that coordinates steering and in-wheel motor torques to maintain stable drift conditions. Simulation results, along with comparative analysis against direct yaw moment control in S-turn and L-turn scenarios, demonstrate the superior performance and effectiveness of the proposed control strategy. Furthermore, the impact of various control parameters on system performance is thoroughly investigated.</p>

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Stable Drift Control Strategy Under Extreme Conditions for RWIDEVs

  • 期刊论文

  • 发表日期：

    2025年9月12日

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  • Yuhua Zong,
  • Dejun Yin,
  • Sichen Gao,
  • Liangmo Wang

摘要

Drift control technology is critical for optimizing the dynamic performance and active safety of rear-wheel independent drive electric vehicles (RWIDEVs) during high-sideslip maneuvers. In this study, we propose a robust longitudinal force pre-distribution strategy that stabilizes drifting dynamics by coordinating sideslip angle regulation, yaw rate tracking, and velocity maintenance. Analysis of the drift steady-state indicates that tire saturation and pronounced sideslip are the defining features of these maneuvers. To address this, a steady-state estimator is developed to compute the reference values for key steady-state parameters. For steady-state drift control implementation, we design a linear quadratic regulator (LQR)-based controller that coordinates steering and in-wheel motor torques to maintain stable drift conditions. Simulation results, along with comparative analysis against direct yaw moment control in S-turn and L-turn scenarios, demonstrate the superior performance and effectiveness of the proposed control strategy. Furthermore, the impact of various control parameters on system performance is thoroughly investigated.