Investigation of Vehicle Stability by Integration of Active Suspension, Torque Vectoring, and Direct Yaw Control

In this article, the integrated vehicle stability control strategy by a combination of active suspension (AS), torque vectoring control (TVC), and direct yaw control (DYC) is proposed to investigate the improvement of vehicle stability. By considering the differences of control targets for variable vehicle subsystems, the proposed strategy includes the three levels of hierarchical structure to coordinate these vehicle subsystems for optimal functions in relation to the vehicle subsystems. At the upper level, the vehicle estimates the posture and dynamic state. At the middle level of the structure, the method of coordination is introduced. Furthermore, the designed AS is based on H∞ logic theory. The TVC design is based on the principle of indirect yaw moment theory, and the DYC design is based on linear quadratic regulator (LQR) control algorithm are demonstrated at the lower level. In order to verify the control effect, the MATLAB/Simulink platform is used for the establishment of the model and simulation. Comparison between the simulation results and experimental results illustrate that the proposed integrated AS/TVC/DYC control system is preferred over the uncontrolled system.