Comparison of Methods for Dynamic Yaw Control on Vehicles With Multiple Electric Motors: A Literature Review

A literature survey is conducted that compares the body of work written about dynamic yaw-moment control (DYC) systems implemented on vehicles with multiple electric motors. Four wheel drive, rear wheel drive, and front wheel drive vehicle architectures are compared with reference to advantages for DYC systems followed by a discussion on controller design. Advantages are weighed as to whether it is better to control vehicle yaw rate, body sideslip angle, or both. Next, methods for implementing the DYC system are evaluated. Sensors used, estimations made, and controller-type utilized are all discussed. Lastly, methods for simulation and testing are reviewed. The survey suggests that little progress has been made on front wheel drive vehicles. It was also determined that more work needs to be conducted on deciding desirable vehicle dynamics for handling. Investigations should be conducted to make these systems cost-effective and robust enough for production. Finally, future studies should include as much detailed simulation work and actual vehicle testing as possible as both are needed for a complete DYC investigation.