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This paper presents a method to design an integrated chassis controller with four-wheel independent steering (4WIS) under the constraint on front slip angles for electric vehicles (EVs) adopting in-wheel motor (IWM) driving system. To improve lateral stability and maneuverability of a vehicle, direct yaw moment control strategy is adopted. A control allocation method is adopted to distribute control yaw moment into tire forces, generated by 4WIS. If corrective steering angles of 4WIS are added to front steering angles generated by a driver, it can deteriorate control performance because the lateral tire force of front wheels easily saturated and it causes loss of required yaw moment needed to stabilize a vehicle. To cope with the problem, it is necessary to impose constraints on front slip angles. To compensate the loss of control yaw moment caused by the constraint on front slip angles, a constrained control allocation method is presented. Simulation on driving simulation tool, CarSim<sup>&#x00AE;</sup>, shows that the proposed integrated chassis controller is capable of maintaining lateral stability and maneuverability without performance deterioration under the constraint on the front slip angles.

Integrated Chassis Control With Four-Wheel Independent Steering Under Constraint on Front Slip Angles