Title: Enhancement of vehicle stability based on coordinated active rear steering and additional yaw moment

Authors: Ping Wang; Xiaodong Ding; Jiamei Lin; Yongqiang Zhao; Jun Li

Addresses: Department of Control Science and Engineering, Jilin University, Changchun, 130022, China ' Department of Control Science and Engineering, Jilin University, Changchun, 130022, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, 130022, China ' College of Automotive Engineering, Jilin University, Changchun, 130000, China ' School of Vehicle and Mobility, Tsinghua University, Beijing, 100084, China

Abstract: To improve the handling and manoeuvrability of four-wheel steer (4WS) and in-wheel motor-driven electric vehicle (EV) under critical conditions, a coordinated control method combining active rear-wheel steering (ARS) and additional yaw moment control in the form of additional drive torque distribution is proposed. Considering the nonlinear properties of tyre force, a nonlinear model predictive controller (NMPC) is designed to track the desired yaw rate and constrain the sideslip angle. Meanwhile, the actuator and security constraints are satisfied effectively. Finally, the control performance is investigated by co-simulation with MATLAB/Simulink and CarSim. The results show that the vehicle longitudinal and lateral stability are both efficiently enhanced under extreme conditions.

Keywords: critical conditions; four-wheel steer; vehicle stability control; active rear wheel steering; additional yaw moment; integrated vehicle dynamics system; electric vehicles; NMPC; nonlinear model predictive control; vehicle active safety.

DOI: 10.1504/IJSCIP.2021.125159

International Journal of System Control and Information Processing, 2021 Vol.3 No.4, pp.293 - 306

Received: 27 Jun 2021
Accepted: 28 Nov 2021
Published online: 31 Aug 2022 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article