Multi-criteria stability combination for yaw stability control of autonomous vehicles

摘要

This paper deals with the yaw stability control to enhance the lateral stability of an autonomous vehicle. By considering some of the main existing stability criteria in the literature, a methodology of monitoring vehicle stability by combining multiple stability criteria is developed in this paper. This combined stability approach is then employed as supervisor in a yaw stability control program to activate a high level control layer. This last is based on a robust state feedback approach and its aim is to improve lateral stability safety by applying a stabilizing yaw moment. Simulations highlight the effectiveness of the given method.