Abstract
Yaw stability of an automotive vehicle in steering maneuver is critical to stability and handling performance of the vehicle. In the paper, a yaw stability controller based on model predictive control is designed in the principle of active differential brake. Implementing a simple 6 DoF linear vehicle model, the proposed controller solves brake torque constraints and overactuated problems in vehicle yaw stability control with the consideration of tire nonlinear characteristics. The simulations on a professional vehicle dynamics tool show the controller could calculate reasonable brake torque of the most efficient wheel in moving horizon manner, and keep the vehicle yaw stability.
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