| Stable Drift Control Strategy Under Extreme Conditions for RWIDEVs |
| Yuhua Zong, Dejun Yin, Sichen Gao, Liangmo Wang |
| School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China |
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Received: February 4, 2025; Revised: June 28, 2025 Accepted: August 13, 2025. Published online: September 12, 2025. |
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| ABSTRACT |
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Drift control technology is critical for optimizing the dynamic performance and active safety of rear-wheel independent drive electric vehicles (RWIDEVs) during high-sideslip maneuvers. In this study, we propose a robust longitudinal force pre-distribution strategy that stabilizes drifting dynamics by coordinating sideslip angle regulation, yaw rate tracking, and velocity maintenance. Analysis of the drift steady-state indicates that tire saturation and pronounced sideslip are the defining features of these maneuvers. To address this, a steady-state estimator is developed to compute the reference values for key steady-state parameters. For steady-state drift control implementation, we design a linear quadratic regulator (LQR)-based controller that coordinates steering and in-wheel motor torques to maintain stable drift conditions. Simulation results, along with comparative analysis against direct yaw moment control in S-turn and L-turn scenarios, demonstrate the superior performance and effectiveness of the proposed control strategy. Furthermore, the impact of various control parameters on system performance is thoroughly investigated. |
| Key Words:
Rear-wheel independent drive electric vehicle · Drift steady state · Vehicle dynamics · Stable drift control |
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Corresponding Author.
Dejun Yin , Email. 
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