Research on Coordinated AFS and DYC Control Development and Testing for DDEV-based Chassis Domain Controllers

HU Yang; LU Yi; LI Jingwei

doi:10.3969/j.issn.1000-1158.2026.03.07

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Acta Metrologica Sinica ›› 2026, Vol. 47 ›› Issue (3) : 363-373. DOI: 10.3969/j.issn.1000-1158.2026.03.07

Research on Coordinated AFS and DYC Control Development and Testing for DDEV-based Chassis Domain Controllers

HU Yang ¹ ,
LU Yi ¹ ,
LI Jingwei ²

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Abstract

To enhance the safety and handling stability of distributed-drive electric vehicles under chassis domain centralized control， a coordinated control strategy of active front steering （AFS） and direct yaw moment control （DYC） is proposed and validated through hardware-in-the-loop testing. Firstly， an adaptive prediction time linear-quadratic regulator （APT-LQR） algorithm is adopted to design the AFS controller， dynamically adjusting the prediction time considering tire stability performance to obtain the desired front steering angle. Then， a direct yaw moment controller is established based on a sliding mode control algorithm. Vehicle stability states are categorized into multiple stability levels based on the tire force method， and the stability weighting factor is adjusted accordingly to determine the additional yaw moment. Furthermore， a constrained quadratic programming method is used to minimize tire load rate for torque distribution. Finally， the proposed coordinated control strategy is verified through a hardware-in-the-loop platform. The results demonstrate that under the double lane change condition， the root mean square errors of the lateral position， yaw rate， and center of gravity side slip angle are reduced by 16.4%， 22.4% and 14.2% respectively， improving trajectory tracking accuracy while ensuring vehicle stability.

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mechanics metrology / stability control / distributed drive electric vehicles / hardware-in-the-loop testing / path tracking / chassis domain controllers

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HU Yang , LU Yi , LI Jingwei. Research on Coordinated AFS and DYC Control Development and Testing for DDEV-based Chassis Domain Controllers[J]. Acta Metrologica Sinica. 2026, 47(3): 363-373 https://doi.org/10.3969/j.issn.1000-1158.2026.03.07

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