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. The in-wheel-motor drive electric vehicle has the advantages of compact structure, high efficiency and easy controllability. But once all of the unilateral drive systems are failure in the strong driving situation, the vehicle will be transient instability under the additional yaw moment produced by the torque of the normal driving wheels. To solve the above problem, the vehicle stability simulation analysis in the situations of unilateral drive system failure was carried out, the coupling relationship between the torque output from the drive systems and the vehicle stability was determined, and the dynamics mechanism of the vehicle transient instability was revealed. On the basis of the decoupling of the vehicle plane stability control parameters, an active yaw moment control strategy based on the electro-hydraulic composite braking compensation in the vehicle instability critical region was developed, and the simulation verification of the failure control was completed. The brake compensation control strategy is able to take the initiative to coordinate the torque coupling characteristics between the in-wheel motors and the hydraulic braking system, which ensures the vehicle stability after the failure of unilateral drive systems.

Brake Compensation Control for In-wheel Motor Drive System Failure