Influences of time delay on vehicle handling and stability of the driver-vehicle closed-loop system

Considering the presence of time delay in feedback control,electric power steering model with yaw rate feedback control was studied and analyzed.Based on the driver model,the vehicle steering model and the electric power steering model with yaw rate feedback control with time delay,a dynamics model of the driver-vehicle closed-loop system is established with the help of the matlab/simulink to study the influences of the changing time delay on the vehicle handling and stability.The results show that: time delay has a negative impact on the vehicle lateral speed,yaw rate,front wheel steering angle and the driver torque.It makes the vehicle handling and stability worse.