Abstract

This paper introduces a novel approach to improve the lateral stability of car–trailer systems by implementing an in-wheel motor-driven trailer. The proposed torque vectoring controller aims to improve lateral stability by minimising hitch rate and angle. The controller utilises an extended Kalman filter for estimating the vehicle's lateral velocity. The in-wheel motor torque vectoring controller is designed based on the Linear Quadratic Regulator (LQR) technique, with a linear state-space model derived from the nonlinear equations through linearisation at the desired state for each time step. Simulation results, conducted through MATLAB and Simulink, validate the effectiveness of the controller in reducing instability during a single lane change. Real road driving tests are conducted to further validate the proposed system. The in-wheel motor-driven trailer demonstrates a substantial reduction in hitch rate and angle, contributing to enhanced stability. Despite constraints on the in-wheel motor's torque output, the proposed torque vectoring controller proves to be effective in real road driving conditions.