The vehicle stability is the core of the control of the intelligent chassis. Previous studies achieved vehicle stability using multi-actuators. However, they hardly considered the execution allocation of multi-actuators, leading to a balance difficulty between the handling stability and ride comfort. This paper presents a coordinated control strategy for the differential braking system (DBS) and rear wheel steering (RWS) to enhance yaw control through their optimal control and execution. The proposed strategy has a hierarchical structure with three layers. The upper layer calculates the additional yaw moment using a data-driven model-free control. The medium layer coordinates the DBS and RWS, dynamically allocating execution proportion based on fuzzy logic. The lower layer converts the allocated yaw moment into distributed braking torques and RWS angles. Vehicle tests during the slalom, steady-state circular, and double-lane change were conducted. The results demonstrated that the proposed coordinated strategy can simultaneously achieve the optimal control and execution of the DBS and RWS, generating a 32.7% improvement in yaw rate tracking accuracy and a 20.6% reduction in steering wheel angle requirements compared to existing control strategies in industry.
ChenZLaiJLiP, et al. (2024) Prediction horizon-varying model predictive control (MPC) for autonomous vehicle control. Electronics13(8): 1442.
2.
ChoiMChoiSB (2016) MPC for vehicle lateral stability via differential braking and active front-steering considering practical aspects. Proceedings of the Institution of Mechanical Engineers - Part D: Journal of Automobile Engineering230(4): 459–469.
3.
Di CairanoSTsengHEBernardiniD, et al. (2012) Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain. IEEE Transactions on Control Systems Technology21(4): 1236–1248.
4.
FahimiF (2013) Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles. Vehicle System Dynamics51(3): 360–376.
5.
GaoSLiuH (2024) A data-driven ensemble algorithm of Black widow optimizer and simulated annealing algorithms for multi-objective buffer allocation in production lines. Proceedings of the Institution of Mechanical Engineers - Part B: Journal of Engineering Manufacture238(1-2): 108–123.
6.
GaoSLiuHOtaJ (2024) Energy-efficient buffer and service rate allocation in manufacturing systems using hybrid machine learning and evolutionary algorithms. Advances in Manufacturing12(2): 227–251.
7.
GuanYZhouHHeZ, et al. (2023) Feedforward integrated control of RWS and DYC for vehicle handling performance considering nonlinear tyre forces and actuators’ limitations. 7th CAA International Conference on Vehicular Control and Intelligence, Changsha, China, 27–29 October 2023.
8.
GuoNLenzoBZhangX, et al. (2020) A real-time nonlinear model predictive controller for yaw motion optimization of distributed drive electric vehicles. IEEE Transactions on Vehicular Technology69(5): 4935–4946.
9.
GuoNLiuJLiJ, et al. (2024) Handling-stability control for distributed drive electric vehicles via lyapunov-based nonlinear MPC algorithm. IEEE Transactions on Transportation Electrification11(2): 6615–6628.
10.
HuZLiaoYLiuJ, et al. (2022) Investigation of vehicle stability by integration of active suspension, torque vectoring, and direct yaw control. SAE International journal of vehicle dynamics, stability, and NVH6(4): 441–459.
11.
LiHWuHGulatiI, et al. (2022) An improved sliding mode control (SMC) approach for enhancement of communication delay in vehicle platoon system. IET Intelligent Transport Systems16(7): 958–970.
12.
LiHZhangTZhengS, et al. (2023) Distributed MPC for multi-vehicle cooperative control considering the surrounding vehicle personality. IEEE Transactions on Intelligent Transportation Systems25(3): 2814–2826.
13.
LiuQGordonTRahmanS (2024) Model-free autonomous control of four-wheel steering using artificial flow guidance. Vehicle System Dynamics62(6): 1565–1586.
14.
MirzaeiMMirzaeinejadH (2017) Fuzzy scheduled optimal control of integrated vehicle braking and steering systems. IEEE/ASME Transactions on Mechatronics22(5): 2369–2379.
15.
MousavinejadEHanQLYangF, et al. (2017) Integrated control of ground vehicles dynamics via advanced terminal sliding mode control. Vehicle System Dynamics55(2): 268–294.
16.
RaghebHEl-GindyM (2019) Design of active yaw controller integrated with ABS and TCS for multi-wheeled vehicles. International Journal of Vehicle Systems Modelling and Testing13(4): 340–357.
17.
SinghAKumarAChaudharyR, et al. (2014) Study of 4 wheel steering systems to reduce turning radius and increase stability. International Conference of Advance Research and Innovation, Unnao, India, 10 January 2014.
18.
SongPTomizukaMZongC (2015) A novel integrated chassis controller for full drive-by-wire vehicles. Vehicle System Dynamics53(2): 215–236.
19.
TangLYanFZouB, et al. (2020) An improved kinematic model predictive control for high-speed path tracking of autonomous vehicles. IEEE Access8: 51400–51413.
20.
TianBLiLLiaoY, et al. (2025) Modeling and analysis of comfort braking control based on brake-by-wire and active suspension systems. SAE International Journal of Vehicle Dynamics, Stability, and NVH9(2): 195–207.
21.
VignatiMSabbioniE (2022) A cooperative control strategy for yaw rate and sideslip angle control combining torque vectoring with rear wheel steering. Vehicle System Dynamics60(5): 1668–1701.
22.
WuDGuanYXiaX, et al. (2025) Coordinated control of path tracking and yaw stability for distributed drive electric vehicle based on AMPC and DYC. Proceedings of the Institution of Mechanical Engineers - Part D: Journal of Automobile Engineering239(5): 1745–1762.
23.
YahagiSKajiwaraI (2023) Data-driven design for model-referenced model-free controller. 23rd International Conference on Control, Automation and Systems, Yeosu, Korea, 17–20 October 2023.
24.
YahagiSKajiwaraI (2025) Data-driven design of model-free control for reference model tracking based on an ultra-local model: application to vehicle yaw rate control. Proceedings of the Institution of Mechanical Engineers - Part D: Journal of Automobile Engineering239(4): 1342–1354.
25.
YimSLeeJChoSI (2015) Optimum yaw moment distribution with ESC and AFS under lateral force constraint on AFS. Transactions of the Korean Society of Mechanical Engineers, A39(5): 527–534.
26.
ZhaoPChenJSongY, et al. (2012) Design of a control system for an autonomous vehicle based on adaptive-pid. International Journal of Advanced Robotic Systems9(2): 44–54.
27.
ZhengZZhaoXWangS, et al. (2023) Extension coordinated control of distributed-driven electric vehicles based on evolutionary game theory. Control Engineering Practice137: 105583.
