Controllable region analysis of active front steering and differential braking system stability control characterized by additional yaw moment

Active Front Steering (AFS) and Differential Braking System (DBS) are commonly used execution systems for vehicle anti-rollover or handling stability control. They regulate the vehicle’s yaw moment by adjusting the lateral tire force and longitudinal tire force, respectively. However, these two systems differ in terms of control capabilities and regulatory sensitivities. In emergency conditions, it becomes crucial to allocate and coordinate the tasks for the execution systems according to their yaw moment control capability and adjustment sensitivity. This paper proposes a method for calculating the controllable region represented by the additional yaw moment. This method allows for the computation of the control capability of AFS and DBS based on the current state. Additionally, the influence of different vehicle states on the controllable regions of the two execution systems is analyzed. Building upon this analysis, the yaw moment adjustment sensitivities of AFS and DBS systems under the current state are further investigated. Finally, a task coordinated strategy between AFS and DBS is developed based on the analysis of controllable regions and sensitivities of different execution systems. Simulink simulations are conducted on yaw stability and roll stability conditions to comprehensively analyze the working process of the proposed task coordination strategy.