Title: A compensated yaw-moment-based vehicle stability controller

Authors: Chih-Keng Chen, Trung-Kien Dao, Hai-Ping Lin

Addresses: Department of Mechanical and Automation Engineering, Dayeh University, 168 University Rd., Changhua, 515 Taiwan. ' Department of Mechanical and Automation Engineering, Dayeh University, 168 University Rd., Changhua, 515 Taiwan. ' Department of Mechanical and Automation Engineering, Dayeh University, 168 University Rd., Changhua, 515 Taiwan

Abstract: This paper describes an Electronic Stability Program (ESP) controller acting on the braking system to generate a corrective yaw moment that helps a vehicle to follow the desired course from the driver. The approach is based on the estimation of the desired yaw rate and the sideslip angle. Model-free Fuzzy-Logic Controllers optimised by Genetic Algorithms are used to control the vehicle tracking the desired yaw rate while keeping the sideslip angle small. A hydraulic-pressure model is developed for the Electro-Hydraulic Brake system for simulation. The performance of the control system for various emergency driving situations is verified by simulations.

Keywords: ESP; electronic stability program; vehicle control; compensated yaw moment; FLC; fuzzy logic; fuzzy control; GAs; genetic algorithms; stability control; vehicle design; vehicle braking; sideslip angle; hydraulic pressure; modelling; electro-hydraulic brakes; emergency driving situations; emergency braking; simulation.

DOI: 10.1504/IJVD.2010.033831

International Journal of Vehicle Design, 2010 Vol.53 No.3, pp.220 - 238

Received: 10 Sep 2008
Accepted: 06 May 2009
Published online: 02 Jul 2010 *

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