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Vehicle stability control has made remarkable contributions in improving vehicle safety and performance, especially during critical driving conditions. Many researchers have made tremendous efforts with regard to various active vehicle stability systems, and integrated vehicle dynamics control has attracted wide interest in research, including the global chassis control (GCC), vehicle dynamic stability control (VDSC), holistic corner control (HCC), among others. Sometimes, they cannot perform well due to the coupling of vehicle dynamics and the highly complex working condition of the vehicle itself, which highly rely on the nonlinear and interdependent tire longitudinal, lateral and vertical forces. Currently, the vigorous development of the intelligent vehicle, advanced driver-assistance system (ADAS) and new chassis structures (such as 4WD EVs) strongly require the effective utilization of nonlinear tire forces and an extension of the vehicle stability region to develop more effective chassis control strategies.
To solve this problem, a synergy control framework for enlarging the vehicle stability region is proposed. In this framework, a vehicle dynamics model combining the longitudinal, lateral, and vertical tire forces is modeled. Then, the vehicle performance requirements are described as the optimal control objectives. The safety constraints are another key component in this framework. Here, phase plane analysis is conducted based on the nonlinear vehicle model to graphically identify the vehicle stability boundary in real time, which is crucial as constraints for the development of a vehicle stability controller. The structure of overall control is shown in Figure 1.
Combined tire forces and vehicle dynamics. A high precision and concise tire model, the “UniTire model”, under combined slip situations is adopted in this research. The basic formulae for tire forces F of the UniTire model are expressed as
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