Title: Research on intervention criterion and stability coordinated control of AFS and DYC
Authors: Xiaojian Wu; Bing Zhou; Tingyang Wu; Qianxi Pan
Addresses: School of Advanced Manufacturing, Nanchang University, Nanchang, 330031, China; Intelligent and Connected Vehicles Research Institute, Jiangling Motor Co., Ltd., Nanchang, 330001, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, 410082, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, 410082, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, 410082, China
Abstract: To improve vehicle handling stability, an intervention criterion and a coordinated control method for active front steering (AFS) and direct yaw moment control (DYC) are proposed. First, the intervention criterion of AFS/DYC stability control based on the working state of lateral tyre force is proposed. Next, a 7-DOF (degree-of-freedom) dynamics model is established, and a method for identifying nonlinear pure lateral force model based on onboard sensors and vehicle handling stability experiment is developed. Then, the mapping relationship between lateral tyre force saturation point and wheel angle is constructed to rapidly judge the working state of lateral tire force. Subsequently, a UKF-based state observer, a hierarchical control algorithm and the yaw moment distribution coefficient are designed for the proposed AFS/DYC control system. Finally, a fishhook test and a step input test are carried out on low adhesion coefficient roads to verify the effectiveness of the proposed AFS/DYC coordinated control method.
Keywords: vehicle handling stability control; AFS; active front steering; DYC; direct yaw moment control; intervention criterion; coordinated control; state observation.
International Journal of Vehicle Design, 2022 Vol.90 No.1/2/3/4, pp.116 - 141
Accepted: 06 Jan 2022
Published online: 27 Feb 2023 *