Electric vehicle chassis integration control aims to improve vehicle handling and
comfort. Previous studies encountered significant practical limitations, such as
computational overhead in real-time execution scenarios. Designing effective and
efficient algorithms for actuator coordination remains challenging. This article
presents a synergetic controller for chassis coordination, combining fuzzy logic
and stability region theory. First, the controller targets are the yaw rate and
side slip angle, which are obtained from a highly accurate multi-body dynamic
model. In addition, based on the generated fuzzy rules, the system calculates
the required additional yaw moments for each actuator and optimizes their
output. Then, the designed controller can distribute control effort optimally in
real-time between braking and rear-wheel steering based on the stability status
of the vehicle. Furthermore, a stability factor approach is used to formulate a
dynamic safety strategy executed by the chassis. It helps to create the safety
boundary of the vehicle and avoid excessive force and angle of execution.
Finally, real-vehicle tests are conducted, and the experimental results and
real-vehicle tests demonstrate significant improvements: steering wheel angle
reduction by 10%, enhanced yaw stability (9% higher safety threshold) for the
slalom test, and better elk testing performance (>2%). The proposed method
offers practical, real-world applicability and provides valuable insights and a
reference for yaw control research in the automotive industry.
