{
  "$type": "site.standard.document",
  "description": "A method for integrated control of handling stability of a distributed drive electric vehicle is provided, in which a Magic Formula tire model is subjected to piecewise linear fitting to obtain a piecewise affine tire model; a hybrid logical dynamic model is established based on the piecewise…",
  "path": "/patents/1375464",
  "publishedAt": "2025-05-15T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W40/10",
    "CHANG'AN UNIVERSITY"
  ],
  "textContent": "A method for integrated control of handling stability of a distributed drive electric vehicle is provided, in which a Magic Formula tire model is subjected to piecewise linear fitting to obtain a piecewise affine tire model; a hybrid logical dynamic model is established based on the piecewise affine tire model; a hierarchical integrated control strategy is adopted to obtain an upper-layer hybrid model predictive controller and a lower-layer four-wheel torque optimal allocation controller, so as to calculate an additional yaw moment, an additional front-wheel steering angle and a wheel drive torque. Related devices for implementing the integrated control method are also provided.",
  "title": "METHOD AND DEVICE FOR INTEGRATED CONTROL OF HANDLING STABILITY OF DISTRIBUTED DRIVE ELECTRIC VEHICLES"
}