DEVELOPPEMENT D’UNE COMMANDE HYBRIDE APPLIQUEE A LA STABILITE LATERALE D’UN VEHICULE ELECTRIQUE

Abstract

This thesis presents a novel method for motion control applied to driver stability system of an electric vehicle with independently driven in which our interests concern the lateral movement to prevent accidents like out of way, especially in curved trajectories. By formulating the vehicle dynamics using an approximation of the tire-force characteristics into piecewise affine functions, the vehicle dynamics can be described as a linear hybrid dynamical system to design a hybrid model predictive controller. This controller is expected to make the yaw rate follow the reference ensuring the safety of the car passengers. Simulation results in Matlab /Simulink have shown that the proposed control scheme takes advantages of electric vehicle and improves the lateral vehicle stability.