An integrated algorithm for vehicle stability improvement with the coordination of direct yaw moment and four-wheel steering control Online publication date: Sun, 10-Sep-2017
by Jiawang Yong; Feng Gao; Nenggen Ding; Yuping He
International Journal of Vehicle Design (IJVD), Vol. 74, No. 3, 2017
Abstract: This paper presents an integrated algorithm for enhancing vehicle stability with the coordination of four-wheel steering and direct yaw moment control based on a hierarchical control structure. At the upper level of the integrated control system, the desired four-wheel steering angles and yaw moment are derived using a sliding mode control technique; at the lower level, the control inputs are optimised and implemented using a pseudo-inverse method. A 2 degrees of freedom (DOF) vehicle model is generated to design the integrated control algorithm, and an 8-DOF non-linear vehicle model is developed for numerical simulations. The algorithm is evaluated using a hardware-in-the-loop real-time simulation system (HILS) with the physical implementation of active four-wheel steering and differential braking. It is demonstrated that the proposed algorithm can enhance vehicle handling and stability under different operating conditions.
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