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<p>A coordination control strategy of active front steering (AFS) and direct yaw control (DYC) is proposed to enhance the stability and handling of distributed-drive vehicles. Initially, an AFS system incorporating an adaptive fuzzy incremental proportional-integral-derivative controller is designed to dynamically determine the additional front-wheel steering angle. This method enhances steering performance by adaptively tuning the controller parameters in response to varying driving conditions. Subsequently, the upper-layer DYC system utilizes a terminal sliding mode control algorithm to produce the additional yaw moment. This algorithm effectively reduces the chattering phenomenon commonly observed in traditional sliding mode control. Furthermore, the lower-layer DYC system utilizes a partial derivative method to distribute the yaw moment to the driving torques of the four wheels, thus optimizing tire utilization. After that, a coordination control strategy utilizing the Takagi–Sugeno fuzzy model is proposed, with vehicle speed and road adhesion coefficient as inputs to calculate the weight coefficients for the AFS and DYC systems. Finally, simulations conducted in the CarSim-MATLAB/Simulink environment corroborates the efficacy of the coordination control strategy. The results reveal that this strategy can maintain precise path-tracking performance enhance lateral stability, driving safety, and ride comfort under diverse conditions.</p>

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Coordination control strategy of active front steering and direct yaw moment control for distributed-drive vehicles

  • 期刊论文

  • 发表日期：

    2025年6月30日

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  • Yuhang Wen,
  • Liqiang Jin,
  • Andong Li,
  • Zhen Zhong,
  • Fei Zhang,
  • Changjie Yin,
  • Yin Zhang

摘要

A coordination control strategy of active front steering (AFS) and direct yaw control (DYC) is proposed to enhance the stability and handling of distributed-drive vehicles. Initially, an AFS system incorporating an adaptive fuzzy incremental proportional-integral-derivative controller is designed to dynamically determine the additional front-wheel steering angle. This method enhances steering performance by adaptively tuning the controller parameters in response to varying driving conditions. Subsequently, the upper-layer DYC system utilizes a terminal sliding mode control algorithm to produce the additional yaw moment. This algorithm effectively reduces the chattering phenomenon commonly observed in traditional sliding mode control. Furthermore, the lower-layer DYC system utilizes a partial derivative method to distribute the yaw moment to the driving torques of the four wheels, thus optimizing tire utilization. After that, a coordination control strategy utilizing the Takagi–Sugeno fuzzy model is proposed, with vehicle speed and road adhesion coefficient as inputs to calculate the weight coefficients for the AFS and DYC systems. Finally, simulations conducted in the CarSim-MATLAB/Simulink environment corroborates the efficacy of the coordination control strategy. The results reveal that this strategy can maintain precise path-tracking performance enhance lateral stability, driving safety, and ride comfort under diverse conditions.