Previous anti-rollover studies only focused on reducing the risk of vehicle rollover, which could not guarantee yaw stability and ignored path tracking problems. This paper presents an integrated control scheme for centralized drive electric vehicles to prevent rollover, enhance the yaw stability, and ensure path tracking capability. The integration of stability control is implemented by switching among several control modes which include four control modes: yaw stability control, roll stability control, roll-yaw stability control, and rollover prevention. A differential drive based on direct yaw moment control (DYC) is employed to improve yaw stability, and the roll stability is improved via longitudinal speed control. Then, the DYC-based single-wheel braking is utilized to prevent rollover. Moreover, a model predictive control (MPC) algorithm is adopted to design the path tracking controller, and then the coordinated control scheme is proposed to realize a trade-off between stability control and path following. Simulation results show that the proposed scheme can realize the rollover prevention function while satisfying the path tracking target and yaw stability.
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