This study proposes a coordinated control strategy to improve the safety, handling stability, riding comfort of the heavy-duty vehicle. The strategy is based on the coordination of direct yaw moment control (DYC) and anti-lock braking system. The model predictive control (MPC) method for DYC considering sideslip angle and yaw rate is presented. The sideslip angle and yaw rate are adopted to be the indicators for handling stability, constraints considering the maximal force of actuator are implemented in the MPC. The control scheme is examined on a non-linear three-directional coupled model in the environment of MATLAB/Simulink and TruckSim. The relationship between yaw moment and wheel slip ratio is obtained by the Dugoff model, which can be easily implemented in hardware-in-loop (HIL) tests. HIL tests are conducted to verify the improvement introduced by the coordinated control with MPC. Vehicle responses under various speeds and turning radii are analysed by comparison of proportional–integral control and MPC. The results specify that the proposed coordinated control scheme with MPC could obtain better lateral stability.

中文翻译：

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基于非线性三向耦合模型的重型车辆模型预测协调控制

这项研究提出了一种协调控制策略，以提高重型车辆的安全性，操纵稳定性和乘坐舒适性。该策略基于直接偏航力矩控制（DYC）和防抱死制动系统的协调。提出了一种考虑侧滑角和横摆率的DYC模型预测控制方法。采用侧滑角和横摆率作为操纵稳定性的指标，MPC中考虑了执行器最大作用力的约束。在MATLAB / Simulink和TruckSim环境下，在非线性三向耦合模型上研究了控制方案。偏航力矩和车轮滑移率之间的关系是通过Dugoff模型获得的，可以在硬件在环（HIL）测试中轻松实现。进行HIL测试以验证MPC协调控制所带来的改进。通过比较比例积分控制和MPC，分析了在各种速度和转弯半径下的车辆响应。结果表明，提出的带MPC的协调控制方案可以获得较好的横向稳定性。