Active Steering Based Vehicle Yaw Stability Control

The yaw stability control of vehicle is critical to vehicle safety. When theyaw rate of vehicle deviation from the expected value, it will cause under-steer orover-steer, and thus affect the safety. In order to track the desired yaw rate, activesteering control and the integrated of active steering control and direct yawtorque control are studied in this paper.Firstly, the problem of modeling the vehicle dynamics for active steering isanalyzed. Then, consider the impact of changes in the vehicle longitudinal speed,two degrees of freedom of LPV vehicle dynamics model with lateral motion andyaw motion is built, which reflect the main dynamic characteristics of thesteering process. In the model, the various parameters, as well as the disturbancecan be measurement in real-time. To test the validity of the LPV vehicledynamics model, different models are compared in veDYNA environment.Secondly, in order to ensure both yaw stability and comfort when the vehicleunder normal driving conditions, only choose the additional angle as amanipulated variable in the LPV vehicle dynamics model to design the vehiclestability controller. Through the analysis of active steering problems, the yawstability control objectives are decided, and the LPV gain scheduling controllerof active steering is designed to achieve the goal. Then, embed the controller is inthe veDYNA environment to test the validity and the effective operating range ofthe active steering controller.Finally, in order to ensure the vehicle yaw stability both under severe andnormal maneuver conditions, and try not to reduce ride comfort, the activesteering and direct yaw control are integrated. Then, based on active steeringcontroller and direct yaw torque controller, this paper gives a method todistribution the two manipulated variables.