Integrated chassis control system to enhance vehicle stability

Vehicle stability enhancement system, by controlling vehicle dynamics, is the latest active safety technology introduced since Antilock Brake System (ABS) and Traction Control System (TCS). This system provides the driver with enhanced vehicle stability and handling. It is the intent of this paper to provide an understanding of the fundamentals of control of vehicle stability. The paper describes a complete stability control algorithm. Starting with a model for the vehicle yaw-plane dynamics, we derive a desired vehicle response, using both time-domain and frequency-domain approaches. Control structures include both yaw rate feedback design, and full-state feedback design. The latter approach requires the estimation of vehicle side-slip velocity. Estimations based on integration of lateral acceleration, the use of algebraic equation using vehicle kinematics, and the use of a Luenberger observer are presented. Computation of the required wheel differential velocity to achieve control objectives is described. Finally, computer simulation is used to investigate and confirm the concepts being discussed.