Vehicle Yaw Stability Control Based On Rapid Control Prototype

Vehicle yaw stability control is one of vehicle active safety controls, used toensure vehic le high-speed steering stability, and improve the driving safety.According to stability control system development requirements, rapid controlprototyping software and hardware, based on the Freescale’s high-performance16-bit processors, is studied in this paper. And two core issues of estimation of vehiclebody side slip angle in the yaw stability controller and design of the yaw stabilitycontroller are discussed. Finally, based on the developed rapid control prototypingof yaw stability control system, the studied estimation method and control methodare verified, on the high-precision hardware in the loop simulation platform ofautomotive control system.Firstly, according to the automobile cherry pendulum stability control systemarchitecture, the hardware of rapid control p rototyping is designed in this paper.This control prototyping uses Freescale’s high-performance16-bit microcontrolleras core, with wheel speed signal processing, steering wheel angle signa l processingand other signa l processing functions, and also with linear solenoid valve driving,switching solenoid valve driving and motor driving functions of automotive brakesystem.Matlab/Simulink has become mainstream tool for the automotive electroniccontrol algorithm development, with a wealth of automotive e lectronic modules andstrong readability, maintainability. Based on the above rapid control prototypinghardware, in order to make the control algorithm and Matlab/Simulink seamless link,rapid control prototyping software is developed based Matltab/RTW, a nd rapidprototyping hardware toolbox is prepared in this paper.Furthermore, for the two core issues of estimation of vehic le body side slipangle and yaw stability controller, estimation methods and yaw stability controlmethod are studied respectively. Sideslip angle estimation is obtained by stateobserver method, which is applicable to vehicle linear and nonlinear conditions.Yaw stability control is achieved through the discrete sliding mode control method,which can effectively achieve vehicle yaw stability control.Finally, based on the studied rapid control prototyping technology, the studiedyaw stability control methods is verified by simulations. The simulation resultsshow that the studied rapid control prototyping can meet the development need s ofvehicle stability control algorithm, which can be used for the actual algorithm development.