An integrated control of AFS, DYC, and ASS for distributed electric driving commercial vehicle

To ensure commercial vehicle stability during trajectory tracking, this paper proposes a comprehensive stability control system based on stability analysis that incorporates Active Front Steering (AFS), Direct Yaw Moment Control (DYC), and Active Suspension System (ASS). A stability region for lateral speed and yaw rate is created by quantitatively describing the evolution behavior of the vehicle model using the Lyapunov exponent theory. Considering vehicle rollover stability, the yaw rate is further constrained based on the Load Transfer Ratio (LTR). To track vehicle dynamics in unstable regions, an upper-level controller called Model Predictive Control (MPC) calculates additional front wheel steering angles, yaw moments, and roll moments. A lower-level allocation controller determines the actual actuator commands, such as front wheel steering angle, additional hub motor torque, and additional vertical force. This control architecture ensures that the vehicle maintains lateral, yaw, and rollover stability. The feasibility of this approach is supported through co-simulations using TruckSim and MATLAB-Simulink, which demonstrates its efficacy in maintaining vehicle stability across multiple dimensions.