Hierarchical Control With Steering Mode Switching for MDED-HDV via Maneuver Stability Region Analysis

Modular distributed electric drive heavy-duty vehicles (MDED-HDV) integrate advanced technologies such as all-wheel steering (AWS) and distributed drive, achieving complete decoupling of the chassis’ motion degrees of freedom (DoFs). This architecture is considered a promising solution for enhancing the stability of heavy-duty vehicles (HDV). However, the impact mechanism of multi-axle steering configurations on stability remains inadequately understood, and the redundancy in control DoFs results in multiple feasible steering configurations. To address these challenges, this paper proposes a hierarchical control framework featuring steering mode switching based on stability region constraints. First, a dynamics model of MDED-HDV is established using rational polynomials. Subsequently, the sum-of-squares programming (SOSP) is employed to estimate the stability region, providing the first analysis of the effects of multi-axle steering on the stability region from the perspective of nonlinear system dynamics. Based on this analysis, a stability region-based steering mode switching strategy is developed. It incorporates vehicle states and road conditions to enable autonomous transitions among anti-phase, front-wheel, and in-phase steering modes. Finally, a hierarchical control framework is implemented. The upper layer selects the steering mode based on the estimated stability region. The lower layer executes a trajectory tracking controller with stability region constraints. The framework addresses the issue of multiple solutions caused by redundant DoFs. Experimental results demonstrate that the proposed steering mode switching strategy improves the tracking accuracy, while the stability region-based controller ensures maneuver stability.