Non-linear reference model with dynamic regulator for vehicle dynamic control

The hierarchical control strategy is one of the most widely used strategies for vehicle dynamic control (VDC) implemented in electric vehicles (EVs). This paper describes the design of a novel reference model based on the structure of hierarchical VDC controller. This model can facilitate good handling performance under normal operating conditions and enhance stability under critical conditions. It consists of two parts: a non-linear basic reference model based on a 5DOF vehicle model and a dynamic regulator. Because the target response generated for stability control may be different from the handling target determined by the non-linear basic reference model, with lateral acceleration feedback a regulation coefficient is used to allow a smooth transition between them. Finally, simulation is conducted and the results confirm that tracking this reference model can reduce the driver´s burden and keep the vehicle stable.