Design of the integrated AFS and DYC scheme for vehicles via FTSM and SOSM techniques

<p style='text-indent:20px;'>Improving the stability and safety is of great significance for the in-wheel electric vehicle. There are many studies only concentrating on active front steering (AFS) control or direct yaw-moment control (DYC). However, When the in-wheel electric vehicle is under extreme conditions, AFS or DYC alone is not effective. In this paper, an integrated controller of AFS and DYC is proposed. Firstly, the ideal values of yaw rate and sideslip angle can be calculated based on the two-degree-of-freedom vehicle model. Secondly, the AFS controller is obtained according to the backstepping-based fast terminal sliding mode (FTSM). Then, the DYC controller which consists of the upper controller and the lower controller is constructed. The upper controller is developed via the integral-based second-order sliding mode (SOSM). The appropriate torque is outputted to each wheel by the lower controller. Finally, the simulation results show that the actual yaw rate and sideslip angle can approach the ideal ones as closely as possible under the proposed integrated controller.</p>