Vehicle stability control system for enhancing steerabilty,lateral stability,and roll stability |
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Authors: | J -S Jo S -H You J Y Joeng K I Lee K Yi |
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Institution: | (1) School of Mechanical and Aerospace Egineering, Seoul National University, Seoul, 151-742, Korea;(2) Hyundai Motor Company, 772-1 Jangduk-dong, Hwaseong-si, Gyeonggi, 445-706, Korea |
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Abstract: | The Vehicle stability control system is an active safety system designed to prevent accidents from occurring and to stabilize
dynamic maneuvers of a vehicle by generating an artificial yaw moment using differential brakes. In this paper, in order to
enhance vehicle steerability, lateral stability, and roll stability, each reference yaw rate is designed and combined into
a target yaw rate depending on the driving situation. A yaw rate controller is designed to track the target yaw rate based
on sliding mode control theory. To generate the total yaw moment required from the proposed yaw rate controller, each brake
pressure is properly distributed with effective control wheel decision. Estimators are developed to identify the roll angle
and body sideslip angle of a vehicle based on the simplified roll dynamics model and parameter adaptation approach. The performance
of the proposed vehicle stability control system and estimation algorithms is verified with simulation results and experimental
results. |
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Keywords: | Vehicle stability control system Target yaw rate Yaw rate controller Brake pressure distribution Roll angle estimator Body sideslip angle estimator |
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