Research on Integrated Control Strategy for Distributed-Drive Heavy-Duty Vehicles

This paper proposes integrated active steering control (ASC) and direct yaw control (DYC) strategy with road bank angle estimation for strengthening the tracking performance and maneuvering stability of distributed drive heavy vehicle, aiming to enhance the vehicle's adaptability on the road environment. First, an unknown input observer is proposed to estimate the road bank angle and roll angle. On this basis, a vehicle rollover constraint is established to improve the rollover prevention capability in slope environment. Subsequently, the influence of the road angle is considered, and the vehicle lateral and roll movements are safely limited to achieve the constraints on tracking error, roll, and lateral stability. Moreover, an integrated model predictive control (MPC)-based control approach is proposed as a means of enhancing the path tracking performance and vehicle stability. Finally, joint Trucksim/Simulink simulation experiment is conducted, and the results demonstrated that the integrated control strategy can ensure the vehicle path tracking accuracy and vehicle stability under lateral slope conditions. Furthermore, the established observer is shown to be capable of efficiently estimating the vehicle key states and road bank angle.