Study on Integrated Control of Vehicle Yaw and Rollover Stability Using Nonlinear Prediction Model

Abstract

This paper proposes the integrated controller of the yaw and rollover stability controls based on the prediction model. A nonlinear 3-DoF vehicle model with a piecewise linearization tire model is built up as the rollover predictive model, and its accuracy is verified by vehicle tests. A yaw stability controller and a rollover stability controller are proposed, respectively. Then coordinated control strategy is investigated for the integration of vehicle yaw and roll stability controls. The additional yaw torque and braking torque of each wheel are calculated. The unified command of valves is sent combined with ABS control algorithm. Virtual tests in CarSim are carried out, including slalom condition and double-lane change condition. Results indicate that the coordinated control algorithm improves vehicle yaw and roll stability effectively.