APPLICATION OF COMBINED STEERING AND INDIVIDUAL WHEEL BRAKING ACTUATED YAW STABILITY CONTROL TO A REALISTIC VEHICLE MODEL

摘要

Yaw stability control is an important aspect of road vehicle active safety and comfort systems. Yaw stability control can be based on steering or individual wheel braking as the means of actuation for generating the required corrective yaw moments. This paper uses a model regulator based yaw stability controller that combines and coordinates steering and individual wheel braking for improved performance. The key contribution of the paper is the application of this combined actuation controller to a realistic road vehicle model created in a commonly used multi-body dynamics simulation program. The performance achieved by the proposed controller is demonstrated through several simulations.