Abstract

In order to fully utilize the advantages of distributed drive electric vehicles, such as high control precision, fast response speed, and easy parameter adjustment, a hierarchical vehicle stability control strategy is employed to enhance the handling and stability of the vehicle. On the basis of Model Predictive Control (MPC), the upper layer introduces an analysis of the vehicle stability mechanism based on the phase plane of the mass center sideslip angle and mass center sideslip velocity. The doubleline method is utilized to delineate the stability region, enhance the MPC is improved, and calculate the additional yaw moment needed by the vehicle by integrating it with the 2-DOF vehicle dynamic reference model. Subsequently, direct yaw moment control (DYC) is implemented across the entire vehicle. The lower layer considers the minimum tire load rate as the objective function and establishes multiple output torque constraints to optimize the motor torque, which is determined by the additional yaw torque calculated by the upper layer. Finally, the simulation verification was carried out under the condition of double line shifting. The results indicate that the enhanced MPC control strategy is superior to the unimproved MPC control strategy in ensuring the stability of the vehicle.