A Vehicle Lateral Stability Control Strategy Considering Nonlinear Disturbance and Tire Slipping

Addressing the issue of vehicle lateral stability control, a hierarchical yaw stability controller that considers nonlinear disturbances and tire slip is proposed in this paper. First, a vehicle model with nonlinear disturbances is established, and an model predictive controller is designed to decide the additional yaw moment, with model mismatch and external disturbances estimated by a nonlinear disturbance observer. Then, a tire force distribution strategy based on the optimal tire utilization ratio is developed to achieve target yaw moment. To tackle the problem of excessive tire longitudinal skid, a slip mode controller is constructed to decide the torque applied to the four drive motors based on the target tire force. Finally, the computational performance and control effects of the method are verified through simulation experiments under different working conditions. The proposed control scheme has been demonstrated to significantly enhance vehicle stability and reduce tire excessive slip under extreme conditions.