Two-Degree-of-Freedom Yaw Moment Control using Driving Torque Transfer System for Front Wheel Drive Vehicle

This paper proposes a front-wheel-drive vehicle motion control technique using a driving torque transfer system. The proposed control system consists of two compensators: a yaw rate following compensator that improves turning performance in normal driving ranges and a stabilizing compensator that controls vehicle slip angle in critical ranges and on slippery road surfaces. This is a two-degree-of-freedom control system that allows parameters to be independently specified for the performance of each compensator. A technique is also given for estimating the vehicle slip angle and yaw moment required for the above control regardless of road surface conditions. Experimental data using a test vehicle demonstrate the effectiveness of this control system.