Abstract
In order to realize the obstacle avoidance and improve the vehicle’s yaw stability, a chassis integrated controller which cooperated Active Front Steering (AFS) and Direct Yaw Moment Control (DYC) is designed based on model predictive control (MPC) theory. It takes the corrective steering angle and desired yaw moment as inputs, and composes the driver-vehicle-road closed-loop system with the driver model. Performance of the controller is demonstrated as the continuous obstacle avoidance case. The simulation results show that the integrated controller can make the vehicle avoid the obstacle on both sides of the road and improve the yaw stability of the vehicle.
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