Driver and Vehicle Cooperative Control System Based on Active Rear Steering and Driect Yaw Moment Control

The stability and safety of vehicles during the driving process, particularly in extreme environments, are crucial for both drivers and passengers. This paper presents a driver and vehicle cooperative control system based on active rear steering and direct yaw moment control (ARS+DYC) to enhance stability, safety, and path tracking performance. Initially, a cooperative control vehicle model is established by integrating the driver's steering input with active rear steering and direct yaw moment control. Performance indexes for the cooperative controller are designed, including handling performance, lateral stability, and path tracking performance. Model predictive control is employed to design the cooperative controller. Subsequently, a deviation PID controller is used to maintain the longitudinal speed of the vehicle, then the acquired longitudinal driving force and additional yaw moment are distributed to each wheel. Finally, a co-simulation platform using Carsim and Simulink is utilized to validate the cooperative control system under two extreme operating conditions, while simultaneously comparing it with the traditional active rear steering (ARS) control strategy. The results demonstrate that, compared to no control strategy and the traditional ARS control strategy, the ARS+DYC control strategy achieves a better balance in optimizing vehicle handling performance, lateral stability, and path tracking performance.