Adaptive Coordinated Stability Control of Vehicle Considering Stability Margin

Aiming at the stability control problem of distributed drive electric vehicles under extreme condition, the divisional adaptive coordination stability control method based on stability margin is proposed. The divisional adaptive coordination is applied for the active front steering (AFS) and direct yaw moment control (DYC) to further improve vehicle lateral stability. In order to achieve adaptive adjustment of the weights between the AFS and DYC, a stability margin is defined based on the phase plane of the sideslip angle and yaw rate ( <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\beta-\omega$</tex> ). And the MPC-based vehicle stability controller is designed to coordinate the AFS and DYC control weight according to the stability margin, and change the wheel longitudinal forces and front wheel steering angle. The co-simulation of CarSim and Simulink shows that the proposed method can effectively ensure the stability of the vehicle under extreme condition, and can reduce the interference to the vehicle speed by 3.32% based on the initial velocity of the vehicle compared with the fixed coordinated weight control.