Coordinated Control of DYC/ABS for Cornering Braking Based on Driver Intention

This paper proposes a DYC/ABS coordinated control strategy for cornering and braking based on driver intention. A hierarchical control structure is established, where the upper-level controller uses a vehicle dynamics model to calculate the additional yaw moment required by the DYC controller to track the desired yaw rate and sideslip angle, as well as the driver’s intended braking intensity. Taking multiple constraints into account, a quadratic programming algorithm is employed to optimize the distribution of braking forces among the four wheels. The lower-level ABS controller is designed with multiple thresholds and corresponding control phases to precisely regulate the hydraulic pressure of individual wheel cylinders. In emergency braking scenarios where ABS intervention may conflict with the upper-layer braking force allocation, a rule-based, stepwise diagonal pressure reduction compensation strategy is proposed. This strategy fully considers the influence of longitudinal and lateral forces of each wheel on the vehicle's yaw moment. By selectively reducing brake pressure, it generates an additional yaw moment to compensate for the negative impact of ABS on vehicle steerability, while ensuring a smooth pressure transition. The proposed strategy is validated on a Driver-in-the-Loop (DIL) simulation platform built using NI PXI, DSPACE, and external driver inputs such as the steering wheel and brake pedal. Under various driver braking intentions and cornering scenarios with high and low road adhesion, the strategy shows significant improvements in fulfilling driver braking demands and enhancing vehicle yaw stability compared to the non-optimized strategy.