Integrated control of active front steering and direct yaw moment for enhancing lateral vehicle stability

For further enhancing vehicle handling stability and improving the DYC's deficiency of causing undesired longitudinal decelerations, an integrated control of the active front steering and direct yaw moment is proposed. A formulation of the bicycle model which considers the nonlinear tire characteristics is adopted. Considering several security constraints, the model predictive control method is used to design the integrated controller. Finally, some simulations are implemented to verify the effectiveness of the controller. The simulation results show that the proposed integrated control is able to reduce the vehicle longitudinal velocity fluctuations and enhance the yaw stability.