Coordinated yaw stability control for extreme path tracking of 4WIDEVs based on predictive control

Abstract

To improve safety and stability of four-wheel independent drive electric vehicles (4WIDEVs) in extreme path tracking maneuvers, a hierarchical yaw stability control scheme based on predictive control is proposed in this work. The upper-level stability control strategy coordinates active front steering (AFS) and direct yaw moment control (DYC), yielding desired front steering angle and longitudinal force of each tire. The control task is formulated into a finite horizon optimal control problem, which is solved by hybrid model predictive control (hMPC) algorithm. The lower-level slip ratio control strategy calculates and tracks the optimal longitudinal slip ratio of each tire for implementation of the longitudinal tire force distributions in a wide range of road friction coefficient. Based on a qualified piecewise affine (PWA) approximation of lateral tire force models, the stable regions of vehicle states under multiple varying inputs are obtained by analyzing trajectories of fixed points. Furthermore, the control modes of the upper-level control strategy with different control inputs and state constraints are determined by judging bifurcation point of system. Finally, the proposed control approach is verified and compared through the dSPACE-based hardware-in-the-loop (HIL) experiments. The results indicate that the proposed yaw stability control strategy can improve yaw stability performance and reduce the tracking error significantly in extreme situations.