Abstract In this paper, a new extension coordinated controller was proposed for driving stability and handling performance of four wheel independent drive electric vehicles. The proposed controller has three levels. The upper control level uses a new extension coordinated controller to find the weights of a active front wheel steering controller (AFS) and a direct yaw moment controller (DYC). Moreover, considering the different vehicle speed, the road adhesion coefficient and the wheel steering angle, a phase plane method was used to provide the dynamic stability boundary for the switching control strategy of AFS and DYC. The medium control level used the triple-step nonlinear method to calculate the additional front wheel angle and additional yaw moment required by the lower control level. The additional front wheel angle and additional yaw moment was applied to the steering motor and the four wheel drive motor, respectively. In order to obtain the target wheel force, the four wheel drive torque was optimized based on a quadratic programming method. The proposed extension coordinated controller was performed in the CarSim/Simulink co-simulation platform, hardware-in-loop (HIL) and vehicle test. The results showed that the proposed controller can effectively improved both the stability and handling performance.

中文翻译：

---

AFS和DYC对四轮独立驱动电动汽车的扩展协调控制

摘要 本文针对四轮独立驱动电动汽车的行驶稳定性和操纵性能提出了一种新的可扩展协调控制器。建议的控制器具有三个级别。上控制层使用新的扩展协调控制器来查找主动前轮转向控制器 (AFS) 和直接横摆力矩控制器 (DYC) 的权重。此外，考虑到不同的车速、路面附着系数和车轮转向角，采用相平面法为AFS和DYC的切换控制策略提供动态稳定边界。中控制级采用三步非线性方法计算下控制级所需的附加前轮转角和附加横摆力矩。额外的前轮转角和额外的横摆力矩分别应用于转向电机和四轮驱动电机。为了获得目标车轮力，基于二次规划方法优化四轮驱动扭矩。提议的扩展协调控制器在 CarSim/Simulink 协同仿真平台、硬件在环 (HIL) 和车辆测试中执行。结果表明，所提出的控制器可以有效地提高稳定性和操纵性能。硬件在环 (HIL) 和车辆测试。结果表明，所提出的控制器可以有效地提高稳定性和操纵性能。硬件在环 (HIL) 和车辆测试。结果表明，所提出的控制器可以有效地提高稳定性和操纵性能。