Integrated Control of Distributed Drive Electric Vehicle AFS/DYC Based on Hybrid Model Predictive Control

To improve the handling stability of distributed drive electric vehicles(EVs)at high speeds on different road surfaces,in this paper an integrated control strategy for AFS/DYC based on hybrid model predictive control is proposed. Firstly,a piece affine tire model is constructed based on system identification methods. In con- junction with the vehicle dynamics model and the conversion relationship between propositional logic and linear in- equalities,the vehicle system’s mixed logical dynamic model is constructed. Then,an integrated control strategy for AFS/DYC based on hybrid model predictive control is designed. The strategy uses mixed integer quadratic pro- gramming to track target reference values for decision-making on additional yaw moment and additional steering an- gle,and constructs an optimized wheel driving torque distribution control strategy with the goal of minimizing tire load rate. Finally,a driver-in-loop handling stability test experiment is conducted on the CarSim-Simulink co-simu- lation platform. The test results show that compared to the traditional model predictive control,the designed hybrid model predictive control strategy reduces the root mean square error of yaw rate and side slip angle by 31.61% and 19.51% respectively under high-speed double lane change conditions and the peak average torque amplitude of the four wheels is reduced by 24.27%. © 2025 SAE-China. All rights reserved.