Vehicle Stability Control Based on Coordinated Control of Direct Yaw Moment and Anti-lock Braking System

摘要

In this paper, a coordinated control strategy based on Direct Yaw Moment Control (OYC) and Anti-lock Braking System (ABS) was proposed to improve vehicle stability. The system was divided into two layers: an upper layer and a lower layer. As an upper-layer control, DYC calculates the additional yaw moment exerted on the vehicle based on the working condition of the vehicle. A simplified arithmetic of transferring additional yaw moment to desired slip rate was adopted in order to achieve differential braking. ABS was the lower-layer control that exerts braking force on the braking wheels to achieve the desired slip rate and, furthermore, achieve desired yaw moment. Simulation results show that the vehicle controlled by the coordinated control strategy of DYC and ABS could have better performance than vehicle with DYC only.