In this article, an integrated multiinput multioutput model reference adaptive control algorithm is presented based on active front steering and effective direct yaw moment distribution as an advanced driver assistance system. Vehicle parameter uncertainties in mass and tire‐road friction coefficient are considered through adaptation laws at the upper level in the control structure. The efficient distribution of yaw moment on the rear wheels is performed via a constrained optimization at the lower control level. Control commands are executed by additive steering angle on front wheels and brake torque applied on one of the rear wheels. Simulation results for different lateral maneuvers are employed for the evaluation of the proposed adaptive control method. The performance of the integrated control algorithm to enhance vehicle handling and stability is shown on various road conditions.

中文翻译：

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自适应横摆稳定性控制，通过主动转向和制动与优化的低级控制器相配合

本文提出了一种基于主动前转向和有效直接横摆力矩分配的集成多输入多输出模型参考自适应控制算法，作为一种先进的驾驶员辅助系统。通过控制结构上层的自适应定律，可以考虑车辆参数质量和轮胎-道路摩擦系数的不确定性。后轮的偏航力矩的有效分配是通过在较低控制级别上进行约束优化来实现的。控制命令由前轮的附加转向角和施加在后轮之一上的制动扭矩执行。不同横向操纵的仿真结果被用于评估所提出的自适应控制方法。