To enhance vehicle dynamic stability during driving, we developed a
three-dimensional phase space model that incorporates the sideslip angle of
center of mass, yaw rate, and lateral load transfer rate. This model enabled
real-time evaluation and active control of vehicle stability. First,
longitudinal and lateral controllers were implemented to ensure precise vehicle
trajectory. Second, a hierarchical control strategy was designed to actively
manage the desired sideslip angle, yaw rate, and roll angle based on the
vehicle’s destabilizing conditions, thereby maintaining the vehicle within a
stable state space. We simulated and tested the stability analysis methods and
integrated control strategies for both cars and trucks under DLC (double lane
change) and CDC (circular driving condition) scenarios using joint simulations
with CarSim/TruckSim and Simulink. The proposed integrated stability control
strategy, which combined MPC-based trajectory tracking with direct yaw moment
control and active suspension control, enhanced the vehicle’s directional and
roll stability. This approach effectively mitigated vehicle instability under
extreme conditions. Compared to the MPC lateral tracking control system, the
performance of the integrated control system was significantly improved. In the
DLC scenario, the maximum values of the sedan’s lateral deviation, sideslip
angle, yaw rate, and vehicle roll angle decreased by 22.6%, 33.9%, 5.5%, and
1.2%, respectively. In the CDC scenario, the truck’s lateral acceleration,
sideslip angle, yaw rate, and vehicle roll angle decreased by 7.5%, 46.8%, 8.2%,
and 80%, respectively. Additionally, open-loop simulation tests were conducted
under fishhook steering conditions for both passenger cars and trucks. The
results further validated the effectiveness of the integrated control strategy,
demonstrating its ability to significantly improve yaw rate and roll response,
thereby enhancing overall vehicle stability under challenging driving
conditions.
