An investigation into differential braking strategies on a banked road for vehicle stability control

Abstract

This paper presents a differential braking strategy on a bank road for vehicle stability control (VSC). Road bank angles have a direct influence on vehicle dynamics and lateral acceleration measurement. A three-degree-of-freedom yaw plane vehicle model with road bank angle disturbances has been used in the design of a differential braking control law. To incorporate the road bank angle into the differential braking strategy for VSC, estimated bank angles have been used. A dynamic road bank angle estimator has been tuned and validated using a test vehicle. Real-time human-in-the-loop simulation studies on the differential braking strategy on a banked road have been conducted using a vehicle simulator. Simulation results in realistic driving situations have shown that a VSC system with the control law incorporating the road bank angles has an advantageous capability in achieving the desired behaviour of the vehicle.