Motion control of micro-scale electric vehicle by DYC considering lane marker information

摘要

This paper examines the feasibility of direct yaw moment control (DYC) in the context of driving assistance system. The lane marker information is acquired by CCD camera with image processing system and used in the design of vehicle motion control. The assist direct yaw moment required for vehicle control is generated by differential longitudinal forces between left and right tires. The resulting assist yaw moment controls the vehicle yaw rate in order to trace the desired yaw rate for tracking desired lane. Yaw moment controller design procedure is presented. The feasibility and capability of DYC as a driver assistance system are shown by computer simulations and experiments on micro-scale electric vehicle.