Abstract
In this article, a driver model–based direct yaw moment controller, selected as the upper controller, is developed, of which the control target is determined through a reference driver model in accordance with the driver’s intention. The sliding surface is chosen by the difference between the desired yaw rate and the real output yaw rate. Then, the desired yaw moment is calculated by the sliding mode control. In the lower controller, a novel control torque distribution strategy is designed based on the analysis of the tire characteristics. In addition, an admissible control set of the control torques is calculated in real time through an embedded tire model “UniTire.” Finally, a driver-in-the-loop experiment, via the driving simulator, is conducted to verify the proposed direct yaw moment controller.
Highlights
Direct yaw moment control (DYC) representing one type of the electronic stability control (ESC) is used to apply the different longitudinal force between the inner and outer wheels, which can stabilize the vehicle yaw motion and increase the vehicle maneuverability.[1,2] There are three ways to achieve the DYC function: braking, driving, or both
Owing to its simple realization, braking DYC is widely used as the control type; quite the opposite, this mandatory deceleration can distribute the driver’s intention which leads to the accident
In order to illustrate the improved effect of the proposed driver model based DYC system (DMbDYC), it is compared with a steering wheel based DYC controller (SWbDYC), of which the desired yaw rate is expressed by equation (19) or gSW
Summary
Direct yaw moment control (DYC) representing one type of the electronic stability control (ESC) is used to apply the different longitudinal force between the inner and outer wheels, which can stabilize the vehicle yaw motion and increase the vehicle maneuverability.[1,2] There are three ways to achieve the DYC function: braking, driving, or both. The control target is determined by a reference driver model, which precisely read the driver’s intention. Izg_ = a Fxfl + Fxfr sin d + a Fyfl + Fyfr cos d À b Fyrl + Fyrr cÀ
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