Multi-State and Switch Condition Design for Electronic Stability Program Considering the Driver' s Desire and Vehicle Steer Tendency

摘要

As a new active safety system for road vehicles, Electronic Stability Program (ESP) can assist the normal human drivers driving well and limiting the vehicle oversteer (spinning out) and understeer tendency when reaching the physical limit of adhesion. Moreover, ESP can significantly decrease deaths and injuries associated with vehicle crash based on the statistical studies. The improved ESP algorithm proposed in the study is different from traditional ESP system most of which is designed based on vehicle handling analysis and brake only single one road wheel in ESP control strategy. Based on the conventional reference model adopted by ESP, the steering wheel angle rate has been involved additionally to represent the intensity of driver's steer maneuver in this paper. Meanwhile, considering the driver's maneuver adjustment under human-system-vehicle interaction and the vehicle current and previous under-steer or over-steer tendency, a more comprehensive ESP control algorithm, which consists of as many as 38 control states, is established from the point of rapid response to driver's intention. The results from road tests show that the ESP algorithm put forward in this paper can obviously improve response performance to driver alterable maneuver, besides enhance vehicle stability performance in effect, especially in a driver reversed steer condition.