Using μ Feedforward for Vehicle Stability Enhancement

Vehicle stability augmentation has been refined over many years, and currently there are commercial systems that control right/left braking and throttle to create vehicles that remain controlled when road conditions are very poor. These systems typically use yaw rate and lateral acceleration in their control philosophy. The tire/road friction coefficient, μ, has a significant role in vehicle longitudinal and lateral control, and there has been associated efforts to measure or estimate the road surface condition to provide additional information for the stability augmentation system.

In this paper, a differential braking control strategy using yaw rate feedback, coupled with μ feedforward is introduced for a vehicle cornering on different μ roads. A nonlinear 4-wheel car model is developed. A desired yaw rate is calculated from the reference model based on the driver steering input. It is shown that knowledge of μ offers significant improvement of the vehicle desired trajectory over that of a yaw rate controller alone. Uncertainties and time delay in estimating μ are shown to still yield a system that is superior to using no μ information at all.