Using μ Feedforward for Vehicle Stability Enhancement

摘要

A differential braking control strategy using yaw rate feedback, coupled with μ feedforward is introduced for a vehicle cornering on different μ roads. A nonlinear 4-wheel car model is developed. A desired yaw rate is calculated form the reference model based on the driver steering input. It is shown that knowledge of μ offers significant improvement of the vehicle desired trajectory over that of a yaw rate controller alone. Uncertainties and time delay in estimating μ are shown to still yield a system that is superior to using no μ information at all.