The pivot steering of an individual wheel motor drive vehicle is an effective steering maneuver in the narrow road, but it has become a matter of concern that the torque input of each wheel is very difficult to determine. In this study, the independent yaw moment control was proposed for the smooth pivot steering control of an in-wheel drive vehicle. For this control method, the vertical forces of tires were estimated from the trailing arm dynamic model, and the yaw moments of individual wheels were calculated from the vehicle dynamic model. Dynamic simulation results showed that the independent yaw moment control was much more effective on the minimization of the instabilities of pivot steering in comparison with the conventional direct yaw moment control with yaw rate feedback.
