| Cooperative Control of AFS and DYC for Distributed Drive Electric Vehicles |
| Yao-hua Li, Mao-meng Li, Deng-wang Zhai, Guo-qing Dong |
| School of Automotive, Chang’an University, Xi’an, 710064, China |
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Received: February 13, 2025; Revised: May 5, 2025 Accepted: July 26, 2026. Published online: September 5, 2025. |
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| ABSTRACT |
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To address the issue of degraded control performance of path tracking algorithms under extreme driving conditions, a cooperative control method integrating active front steering (AFS) and direct yaw control (DYC) based on the four-line stability criterion is proposed. Firstly, an improved AFS control system is established to enhance vehicle stability by adjusting the front wheel steering angle. A direct yaw moment control strategy is developed, incorporating a torque distribution algorithm based on minimizing longitudinal tire adhesion utilization to improve vehicle stability through yaw moment application. Secondly, a vehicle stability criterion based on the four-line method is established to accurately determine the vehicle's stability status. Subsequently, an integrated control strategy for AFS and DYC is proposed based on the four-line stability criterion: AFS operates under stable conditions, DYC activates under unstable conditions, and both systems work simultaneously under critical stability conditions. Finally, co-simulation experiments are conducted using MATLAB/Simulink and CarSim. The results demonstrate that the proposed stability control strategy ensures path-following accuracy while enhancing vehicle stability and improving performance under extreme conditions. |
| Key Words:
Distributed drive electric vehicle · AFS · DYC · Path tracking control · Cooperative control |
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Corresponding Author.
Yao-hua Li , Email. 
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