Double-Envelope Coordinated Control with Subjective-Objective Consistent Stability Evaluation for Corner-Module Vehicles

Physical constraints are characterized by vehicle stability boundaries and actuator hardware limits. However, they cannot capture driver perception of vehicle responses or quantify the effects of actuator inputs on vehicle stability. This article proposes a double-envelope coordinated control strategy with subjective–objective consistent stability evaluation for corner-module vehicles. Actuator stability margins are derived from vehicle stability boundaries under four-wheel steering and distributed drive. They are used to prevent vehicle instability in advance by constraining destabilizing actuator inputs. Real-vehicle tests identify driver-perceived boundaries under varying vehicle speeds and road adhesion conditions. Mapping these boundaries to the objective stability index establishes a subjective–objective consistent evaluation. Actuator stability margins and consistent evaluation form a soft envelope, while vehicle stability boundaries and actuator hardware limits define a hard envelope. The resulting double-envelope coordinated control adjusts actuator priorities according to the actuator stability margins and adapts control targets to reflect driver perception. CarSim-Simulink co-simulation and hardware-in-the-loop experiments demonstrate improvements in extreme obstacle avoidance capability and driver handling confidence.