Boundary-Mapped Coordination Control of TVC-DBC: Addressing Tire Force Saturation to Enhance Vehicle Stability

Recent advances in autonomous driving and electric vehicles have highlighted the critical importance of vehicle stability control systems. However, existing control strategies often struggle to maintain optimal performance in challenging driving scenarios. This article presents a novel coordinated control strategy that seamlessly integrates torque vectoring control (TVC) and differential braking control (DBC). Our approach significantly enhances vehicle stability limits while minimizing energy-consuming brake interventions. By prioritizing TVC for yaw moment generation and employing DBC as an intelligent backup system, we achieve superior vehicle dynamics control. The strategy features an advanced boundary map for precise DBC activation and implements a sophisticated multiobjective control algorithm at the torque distribution level. Through extensive testing, our system demonstrated remarkable capabilities in preventing excessive longitudinal tire slip while maintaining optimal lateral forces, marking a significant advancement in vehicle safety and handling performance. The proposed controller is experimentally validated under various road and operating conditions. Test results demonstrate that the controller can significantly improve vehicle handling stability in extreme conditions.