A coordinated AFS/DYC strategy and RIME-optimized torque distribution for DDEVs

Distributed-drive electric vehicles (DDEVs) tend to experience significant lateral instability when operating under high-speed and low-adhesion conditions, posing serious challenges to driving safety. To address this issue, this study proposes a coordinated control framework integrating Active Front Steering (AFS) and Direct Yaw Moment Control (DYC), combined with a RIME-enhanced quadratic programming (RIME-QP) torque distribution strategy. A phase-plane-based coordination mechanism is introduced to categorize vehicle dynamic states into stable, critical, and unstable regions, allowing adaptive allocation of control authority between AFS and DYC. At the upper control layer, a hybrid structure combining model predictive control (MPC) feedforward and iterative linear quadratic regulator (iLQR) feedback is developed to enhance robustness against model uncertainties and nonlinear tire effects. At the lower layer, the torque allocation problem is formulated as a convex quadratic programming problem and solved using the RIME-enhanced algorithm to improve optimization robustness under complex constraints. Hardware-in-the-loop (HIL) experiments under multiple driving scenarios demonstrate that the proposed strategy significantly improves yaw rate and sideslip tracking performance while maintaining real-time computational feasibility.