关键词: 直接横摆力矩控制；滑模控制；联合仿真；横向稳定性

Abstract: In order to improve the operational stability and safety of a driving vehicle, a direct yaw moment controller can be built to achieve this. Firstly, according to the center of mass sideslip angle and yaw rate as input parameters, the direct yaw moment controller is designed by using the variable structure sliding mode control theory. Then the lateral stability boundary of the vehicle is designed based on the lateral stability coefficient, and the timing of the direct yaw moment controller is judged, then the corresponding adjusting moments of four wheels are obtained according to the established wheel control rules. Finally, the co-simulation results show that the selected control strategy can improve the vehicle's yaw rate and center of mass sideslip angle response threshold, and greatly improve the vehicle's lateral stability when driving at high speeds under low adhesion coefficient.

Key words: Direct yaw moment control; Sliding mode control; Co-simulation; Lateral stability