Integrated control of active front steering and direct yaw moment based on model predictive control

For further enhancing vehicle handling stability and improving the ESP's deficiency of causing undesired longitudinal decelerations, an integrated control of the active steering and direct yaw moment (DYC) is proposed. A new formulation of the bicycle model which adds the additional front wheel angle and yaw moment is introduced. And the model predictive control method is used to design the integrated controller. Finally, this paper investigates the effectiveness of integrated control system in the standard double lane change condition. The simulation results show that the proposed integrated control is able to enhance the yaw stability and reduce the longitudinal velocity fluctuations.