Integrated Yaw and Roll Stability Control of Distributed-Drive Electric Vehicles Based on the Phase Plane Method

Abstract

Aiming at the potential simultaneous occurrence of spin-out and rollover during high-speed cornering on road surfaces, this paper takes distributed-drive electric vehicles as the research object and designs a yaw and roll integrated control (YRIC) strategy based on the vehicle’s stability state. Firstly, the β−β˙ phase plane and ϕ−ϕ˙ phase plane are respectively employed to define the stability control regions and serve as the stability criteria for the vehicle. Secondly, according to the vehicle states within the prediction horizon, the corresponding control mode is selected and the control weighting factors are provided to the upper-level controller. The upper-level controller, based on Model Predictive Control (MPC) theory, computes the optimal control outputs. From the derived desired tire longitudinal forces, the desired additional yaw moment is calculated. The lower-level controller allocates this desired additional yaw moment to the optimal driving torque for each wheel. Finally, co-simulation results using MATLAB/Simulink2021b and Carsim2020 demonstrate that the proposed integrated control strategy possesses strong body attitude correction capability under high-speed cornering conditions and can significantly improve vehicle stability.