AFS/DYC Cooperative Control for Handling Stability of Distributed Drive Electric Vehicle

In order to improve the handling stability of distributed drive electric vehicle under extreme driving conditions, two models of critical front wheel angle were established, and the lateral tire force curve was divided into linear, transition and saturation regions. Based on this, the working regions of AFS and DYC were determined, and the AFS/DYC cooperative control strategy based on lateral tire force characteristics was proposed. The maximum relative error of the model of critical front wheel angle is 5.42％, and the lateral tire force region can be accurately divided. Compared with the cooperative control strategy in the phase plane extension domain, the performance of the proposed cooperative control strategy is improved by 40.29％, and the maximum lateral displacement deviation is reduced by 89.05％. The proposed cooperative control strategy improves the vehicle trajectory tracking accuracy, and the handling stability of the distributed drive electric vehicle under extreme driving conditions is greatly improved.