Abstract
In this paper, the hierarchical yaw stability control architecture is introduced. This approach coordinates two controllers, namely the steerability and the stability controllers improving respectively the handling performance and the lateral stability. Thus, each controller has a control domain, a control objective, and its own active system. The coordination of these controllers is made by means of a supervisor that gives activation functions to prioritize each controller according to the detected situation whether it is critical or not. Using the same controllers, two supervisors are investigated. On one hand, the sideslip angle - sideslip rate phase plan, and the simplified yaw rate - sideslip angle phase plan on the other hand. Finally, simulation results are given to show the effectiveness of the proposed approach.
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