Abstract: In order to further improve the yaw stability control ability of chassis domain control vehicle, a double-layer chassis domain control system is designed and the influence of feedforward predictive control on the yaw stability of chassis domain control vehicle is studied. In this strategy, the predicted yaw velocity calculated by feedforward prediction is calculated with the target value of vehicle yaw velocity and the actual yaw velocity to get the final yaw deviation value. Finally, MATLAB&CarSim co-simulation and real vehicle experiment are carried out through steering wheel step conditions and sine steering conditions. The experimental results show that compared with the simple feedback control, the chassis domain control vehicle with feedforward predictive control can better improve the vehicle response ability and the vehicle yaw stability, especially in the case of continuous steering, the vehicle yaw stability improvement is more obvious.

Key words: Yaw stability; Feedforward control; Chassis domain control; Co-simulation; MATLAB &CarSim

摘要： 为了进一步提高底盘域控车辆的横摆稳定性控制能力，设计了一种双层结构的底盘域 控系统，并研究分析了前馈预测控制对底盘域控车辆横摆稳定性的影响。该策略通过前馈预 测计算出的横摆角速度预测值，与车辆横摆角速度目标值和车辆实际横摆角速度进行计算， 得到最终横摆偏差值。最后通过方向盘阶跃工况和正弦转向工况进行 MATLAB&CarSim 联合 仿真和实车实验分析。实验结果表明，相较于单纯反馈的控制，具备前馈预测控制的底盘域 控车辆可以更好地提升车辆的响应能力和车辆的横摆稳定性，特别是在连续转向的情况下， 车辆横摆稳定性改善更加明显。

关键词: 横摆稳定性；前馈控制；底盘域控；联合仿真；MATLAB&CarSim