Abstract
A coordinated control strategy based on Direct Yaw Moment Control (DYC) and slip rate control was proposed aiming at improving vehicle stability. The system was divided into two layers: an upper layer and a lower layer. DYC was the upper-layer control, which calculates the additional yaw moment exerted on the vehicle based on the working condition of the vehicle. A simplified arithmetic of transferring additional yaw moment to desired slip rate was adopted in order to achieve differential braking. Slip rate controller was the lower-layer control that exerts braking force on the braking wheels to achieve the desired slip rate and to achieve desired yaw moment.
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