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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 conjunction with the vehicle dynamics model and the conversion relationship between propositional logic and linear inequalities, 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 programming to track target reference values for decisionmaking on additional yaw moment and additional steering angle, and constructs an optimized wheel driving torque distribution control strategy with the goal of minimizing tire load rate. Finally, a driverinloop handling stability test experiment is conducted on the CarSimSimulink cosimulation 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 highspeed double lane change conditions and the peak average torque amplitude of the four wheels is reduced by 24.27%.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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