Title: Integrated control of AFS and DYC for in-wheel-motor electric vehicles based on operation region division

Authors: Jianjun Hu; Zhihua Hu; Chunyun Fu; Fuqian Nan

Addresses: State Key Laboratory of Mechanical Transmissions; School of Automotive Engineering, Chongqing University, Chongqing 400044, China ' State Key Laboratory of Mechanical Transmissions; School of Automotive Engineering, Chongqing University, Chongqing 400044, China ' State Key Laboratory of Mechanical Transmissions; School of Automotive Engineering, Chongqing University, Chongqing 400044, China ' Chongqing Sokon New Energy Vehicle Design Institute Co., Ltd., Chongqing 400044, China

Abstract: The integrated chassis control system can improve vehicle handling and stability effectively. This paper proposes an integrated control system based on operation region division of active front steering (AFS) and direct yaw moment control (DYC) for in-wheel-motor electric vehicles. The control system adopts a two-layer hierarchical control structure. The decision layer employs a modified sliding mode controller to calculate the required corrective yaw moment, and determines operating regions of the two subsystems based on the driving conditions (road adhesion coefficient, tyre load and wheel slip ratio). The execution layer generates the corrective steer angle and the driving/braking torques for the AFS and DYC subsystems respectively. Simulation results show that on the high-adhesion-coefficient road, the integrated control system appropriately adopts subsystems to improve handling, while attenuating the workload of barking system; on the slippery road, the integrated control system maintains vehicle stability and provides control performance superior to those resulting from the single systems.

Keywords: driving stability; AFS; active front steering; DYC; direct yaw moment control; yaw rate; hierarchical control; operation region division; lateral tyre force; Magic Formula; sliding mode control.

DOI: 10.1504/IJVD.2019.103594

International Journal of Vehicle Design, 2019 Vol.79 No.4, pp.221 - 247

Received: 10 Jan 2018
Accepted: 14 Sep 2018
Published online: 13 Nov 2019 *

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