Stability-Based Coordinated Control for Distributed Drive Electric Vehicle Trajectory Tracking and Handling Stability

To address the issue of poor yaw stability in distributed drive electric vehicles under extreme trajectory tracking conditions, this paper proposes a novel control approach that coordinates upper-layer trajectory tracking and stability control with lower-layer active front steering (AFS) and direct yaw moment control (DYC). Firstly, a stability domain boundary is defined in the β−β̇phase plane, and the instability factor is derived based on boundary line characteristics. This factor is used as a weight in the objective function to establish a model predictive control (MPC) for trajectory tracking and handling stability, thereby adjusting the control target weights for both objectives. Secondly, fuzzy logic is used to change the boundary of the phase plane transition field according to the vehicle state to dynamically adjust the intervention timing of the stability control, while AFS and DYC control are used to modify the front wheel steering angle and yaw moment control in the MPC model, and ultimately the torque is distributed to the four wheels. Simulation results show that this control method significantly improves vehicle stability under extreme conditions compared to single-objective MPC, achieving a comprehensive enhancement in trajectory tracking accuracy and vehicle yaw stability performance.