Abstract
This paper describes an Electronic Stability Program (ESP) controller acting on the braking system to generate a corrective yaw moment that helps a vehicle to follow the desired course from the driver. The approach is based on the estimation of the desired yaw rate and the sideslip angle. Model-free Fuzzy-Logic Controllers optimised by Genetic Algorithms are used to control the vehicle tracking the desired yaw rate while keeping the sideslip angle small. A hydraulic-pressure model is developed for the Electro-Hydraulic Brake system for simulation. The performance of the control system for various emergency driving situations is verified by simulations.
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