Research on the lateral and longitudinal cooperative stability control strategy of commercial vehicles under variable load

The center of mass of commercial vehicles is high, and the load parameters are prone to nonlinear changes with different loading mass and uneven distribution during steering, resulting in the dynamic evolution of the critical stability boundary of vehicles, which brings challenges to the active anti-sideslip and rollover control of commercial vehicles. To solve these problems, a hierarchical control strategy for the cooperative stability of commercial vehicles based on four-wheel independent steering (4WIS) and differential braking (DB) under variable load (VLCSC) is proposed in this paper. In the upper layer, an observation method based on an improved cubature Kalman filter (ICKF) is proposed to achieve real-time and accurate observation of vehicle load parameters under critical instability conditions. At the lower level, considering the influence of load characteristic variations on vehicle stability margin, a yaw-roll coupling cooperative stability control method for commercial vehicles is proposed based on game control theory for multi-agent systems (GMASC) to ensure the vehicle’s active stability control ability. The results show that compared with the traditional linearized model predictive control (MPC), the proposed strategy can reduce the maximum deviation between the sideslip angle, the yaw rate, and the reference value by about 70% and control the lateral-load transfer ratio (LTR) within 80%, thus significantly improving the cooperative stability control capability.