Vehicle yaw stability control using the fuzzy-logic controller

The yaw stability of a vehicle is crucial to vehicle safety in steering manoeuvres. In this paper, a fuzzy-logic controller is designed for improving vehicle yaw stability by corrective yaw moment generated from differential braking so that the yaw rate and body sideslip angle can trace their desired values. An 8-DOF vehicle model with nonlinear tire characteristic is developed to capture the vehicle longitudinal, lateral, yaw and roll motion, and four wheel rotation motion. The body sideslip angle is estimated by a 3-DOF vehicle model. Simulations of J-turn and lane change are carried out and the simulation results show the effectiveness of the fuzzy-logic controller for improving vehicle yaw stability.

[1]  Hideki Sakai,et al.  Automobile Model Taking into Account of a Tire Dynamic Property , 1997 .

[2]  Chao-Jung Chen,et al.  The automated lane-keeping design for an intelligent vehicle , 2005, IEEE Proceedings. Intelligent Vehicles Symposium, 2005..

[3]  Qin Zhang.  A generic fuzzy electrohydraulic steering controller for off-road vehicles , 2003 .

[4]  Abolfazl Halvaei Niasar,et al.  Yaw moment control via emotional Adaptive Neuro-Fuzzy Controller for independent rear wheel drives of an electric vehicle , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[5]  Masao Nagai,et al.  Traction control of electric vehicles considering vehicle stability , 2000, 6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494).

[6]  María Jesús López Boada,et al.  Integrated control of front-wheel steering and front braking forces on the basis of fuzzy logic , 2006 .

[7]  Hans B. Pacejka,et al.  Magic Formula Tyre Model with Transient Properties , 1997 .

[8]  Avesta Goodarzi,et al.  Optimal yaw moment control law for improved vehicle handling , 2003 .

[9]  Sergey V. Drakunov,et al.  Yaw control algorithm via sliding mode control , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[10]  Davor Hrovat,et al.  Vehicle Steering Intervention Through Differential Braking , 1998 .

[11]  Qunzhi Zhou,et al.  Driver assisted fuzzy control of yaw dynamics for 4WD vehicles , 2004, IEEE Intelligent Vehicles Symposium, 2004.