This paper presents a novel vehicle dynamic controller for coordinating the Electronic Stability Program (ESP) and active suspension system (ASS) to improve the directional performance and roll stability of the vehicle. The controller consists of two levels. The upper level is responsible for monitoring system status, determining control objectives, and distributing the active forces. Also, a priority-weighting mechanism is proposed for model predictive control to generate an adaptive multi-objective cost function. Then, the distribution of active forces is obtained by solving a centralized optimization problem. In the lower level, the dynamics of the suspension actuators are taken into consideration in the control of suspension forces for the ASS, and the desired braking forces are achieved through braking torque control for the ESP. The effectiveness of the proposed controller is verified through numerical simulation by using a nonlinear full vehicle model. The simulation results show that the proposed dynamic controller can significantly improve the yaw and roll performance of the vehicle.

本文提出了一种新型车辆动态控制器，用于协调电子稳定程序（ESP）和主动悬架系统（ASS），以提高车辆的方向性能和侧倾稳定性。控制器由两个级别组成。上层负责监控系统状态，确定控制目标，分配主力。此外，还提出了一种用于模型预测控制的优先权加权机制，以生成自适应多目标成本函数。然后，通过解决集中优化问题获得主力分布。在较低级别，在控制 ASS 的悬架力时考虑了悬架执行器的动力学，并通过 ESP 的制动扭矩控制来实现所需的制动力。通过使用非线性整车模型的数值仿真验证了所提出控制器的有效性。仿真结果表明，所提出的动态控制器可以显着改善车辆的横摆和侧倾性能。