Analytical Stability Region Estimation and Validation of Distributed Driving Electric Vehicle via SOSP

Benefited from the direct yaw moment (DYC), distributed driving electric vehicle (DDEV) shows greater flexibility compared with centralized driving vehicle (CDV). Meanwhile, the additional DYC could also affect the stability of DDEV during handling limit. However, extensive stability control methods of DDEV still based on the traditional stability region of CDV, which evidently lead to the conservativeness of control. To this end, a novel analytical stability region of DDEV is estimated via sum of squares programming (SOSP) technique. For the convenience of algorithm application, a rational polynomial based DDEV model is established. The dynamic stability region of different parameters and states are estimated by SOSP. In addition, we also compare the stability regions of different vehicle models and analyze the effects of DYC. Finally, simulation tests are conducted to validate the accuracy of the estimation stability region.