Yaw Coordinated Control Based on Fuzzy Control and Stability Region Theory

<div>Electric vehicle chassis integration control aims to improve vehicle handling and comfort. Previous studies encountered significant practical limitations, such as computational overhead in real-time execution scenarios. Designing effective and efficient algorithms for actuator coordination remains challenging. This article presents a synergetic controller for chassis coordination, combining fuzzy logic and stability region theory. First, the controller targets are the yaw rate and side slip angle, which are obtained from a highly accurate multi-body dynamic model. In addition, based on the generated fuzzy rules, the system calculates the required additional yaw moments for each actuator and optimizes their output. Then, the designed controller can distribute control effort optimally in real-time between braking and rear-wheel steering based on the stability status of the vehicle. Furthermore, a stability factor approach is used to formulate a dynamic safety strategy executed by the chassis. It helps to create the safety boundary of the vehicle and avoid excessive force and angle of execution. Finally, real-vehicle tests are conducted, and the experimental results and real-vehicle tests demonstrate significant improvements: steering wheel angle reduction by 10%, enhanced yaw stability (9% higher safety threshold) for the slalom test, and better elk testing performance (>2%). The proposed method offers practical, real-world applicability and provides valuable insights and a reference for yaw control research in the automotive industry.</div>