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<p>To address the issue of degraded control performance of path tracking algorithms under extreme driving conditions, a cooperative control method integrating active front steering (AFS) and direct yaw control (DYC) based on the four-line stability criterion is proposed. Firstly, an improved AFS control system is established to enhance vehicle stability by adjusting the front wheel steering angle. A direct yaw moment control strategy is developed, incorporating a torque distribution algorithm based on minimizing longitudinal tire adhesion utilization to improve vehicle stability through yaw moment application. Secondly, a vehicle stability criterion based on the four-line method is established to accurately determine the vehicle's stability status. Subsequently, an integrated control strategy for AFS and DYC is proposed based on the four-line stability criterion: AFS operates under stable conditions, DYC activates under unstable conditions, and both systems work simultaneously under critical stability conditions. Finally, co-simulation experiments are conducted using MATLAB/Simulink and CarSim. The results demonstrate that the proposed stability control strategy ensures path-following accuracy while enhancing vehicle stability and improving performance under extreme conditions.</p>

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Cooperative Control of AFS and DYC for Distributed Drive Electric Vehicles

  • 期刊论文

  • 发表日期：

    2025年9月5日

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  • Yao-hua Li,
  • Mao-meng Li,
  • Deng-wang Zhai,
  • Guo-qing Dong

摘要

To address the issue of degraded control performance of path tracking algorithms under extreme driving conditions, a cooperative control method integrating active front steering (AFS) and direct yaw control (DYC) based on the four-line stability criterion is proposed. Firstly, an improved AFS control system is established to enhance vehicle stability by adjusting the front wheel steering angle. A direct yaw moment control strategy is developed, incorporating a torque distribution algorithm based on minimizing longitudinal tire adhesion utilization to improve vehicle stability through yaw moment application. Secondly, a vehicle stability criterion based on the four-line method is established to accurately determine the vehicle's stability status. Subsequently, an integrated control strategy for AFS and DYC is proposed based on the four-line stability criterion: AFS operates under stable conditions, DYC activates under unstable conditions, and both systems work simultaneously under critical stability conditions. Finally, co-simulation experiments are conducted using MATLAB/Simulink and CarSim. The results demonstrate that the proposed stability control strategy ensures path-following accuracy while enhancing vehicle stability and improving performance under extreme conditions.