Safety Region based Event-driven Lateral Stability Control for DDEVs with Energy Conservation

Ensuring robustness and adaptability of vehicle stability control under dynamic driving conditions is highly challenging, particularly when multiple performance objectives must be simultaneously satisfied in practical engineering applications. To this end, this paper proposes an event-driven control framework for distributed driven electric vehicles (DDEVs) to enhance the system performance and balance the steerability, stability and energy efficiency. First, the eventoriented control strategy set is created corresponding to the performance-based driving event library. Each event-driven strategy is implemented by the specific combination of active front steering (AFS), direct yaw moment control (DYC) and torque allocation (TA) under hierarchical control structure. Next, a novel division criterion of stability region is developed by the combination of theoretic analysis and physical mappings via using projections on phase plane for maximum linear points of yaw rate growth versus steering angle. Then, the event-driven principle is established based on the normalized stability factor which is also being as the coordination factor for the upper interaction of AFS and DYC, and the lower balance between optimal adhesion utilization and minimization of motor power loss. Finally, comparative hardware-in-loop (HIL) experiments in extreme conditions demonstrate the feasibility and superiority of the proposed strategy.