Study of Vehicle Yaw Stability Control Based on Hardware-in-the-loop Simulation

The study in the paper is aimed to develop a yaw stability controller (YSC) by way of actively dynamic distribution of the longitudinal tire forces, which is considered to be one of the promising means of chassis control, so as to substantially improve the vehicle active safety even under some critical conditions. The control law, which ensures the vehicle follow the desired dynamic model via the feedforward control of side slip angle and the fuzzy control of the errors between the desired states and the corresponding practical ones, has been designed and implemented by using the hardware-in-the-loop (HiL) simulation technology under the Matlab/Simulink environment. The promising HiL real-time simulation results show that the proposed YSC controller is effective and robust in keeping the vehicle to follow the desired trajectories rapidly and accurately under all the typically given conditions, such as J-turn, single-lane changes and etc, in which the variation of road adhesive coefficient also has been taken into account.