An AFS/DYC cooperative control method based on model prediction and phase plane stability analysis

In order to improve the handling stability of distributed drive electric vehicles under certain extreme driving conditions, this paper takes distributed drive electric vehicles as the research object and establishes a linear deviation two-degree-of-freedom model. In addition, through the phase plane stability analysis, the phase diagram trajectory is divided into stable and unstable regions by applying the stability boundary fitting formula, so as to generate constraints for the object function and determine the working regions of active front steering (AFS) and direct yaw moment control (DYC). Ultimately, a cooperative controller with AFS and DYC based on model predictive control (MPC) and phase plane stability analysis is proposed. For the purpose of proving the superiority of the proposed controller, another four controllers are set up for comparison, and simulation experiments are carried out in two scenarios of high and low speed. The simulation results show that the AFS and DYC cooperative controller based on MPC and phase plane stability analysis could further reduce the lateral deviation while ensuring stability at low speed, and improve the overall performance of vehicle handling stability without sacrificing too much lateral deviation at high speed.