Vehicle Yaw Stability Control Based on Fuzzy Sliding Mode Direct Yaw Moment

Abstract:

To avoid the risk of lateral instability of the vehicle， based on the independent controllability of the four-wheel drive/braking torque of the four-wheel independent drive electric vehicle， a fuzzy sliding mode direct yaw moment control strategy with a two-layer structure of an upper controller and a lower controller was proposed. In the upper controller， a fuzzy sliding mode controller was used to calculate the total required yaw moment and distribute the longitudinal forces of the four wheels. In the lower controller， the tire longitudinal force was transformed into the control of tire slip rate， and the tire longitudinal force was realized by controlling the torque of the four wheels. The simulation results show that the fuzzy sliding mode direct yaw moment control strategy can ensure the lateral stability of the vehicle under various road conditions， and can weaken the system chattering caused by the traditional sliding mode controller.