Comparison and evaluation of steer yaw motion controllers with an anti-lock brake system

Abstract

This study proposes two new steer yaw motion controller (SYMC) systems designed to increase lateral stability and controllability for comparison with two brake yaw motion controller (BYMC) systems. The SYMC systems control the steering angle of the rear wheels to make the vehicle track reference values. A non-linear vehicle model and an anti-lock braking system controller are used to validate these systems for a vehicle operating on a slippery road at a high speed. Test results show that the SYMC systems extend the limit of adhesion between the road and the tyre to improve controllability and stability. SYMC systems provide enhanced steerability for a vehicle executing a manoeuvre such as a J-turn or sinusoidal steering. They also reduce the deviation from the centre-line for a vehicle operating on a split- μ road and decrease the steering effort when changing lanes. The performance of SYMC systems is generally similar to that of BYMC systems, except for lane changes on a snow-covered road surface where the SYMC performance is superior.