Development of Mando ESP (Electronic Stability Program)

This paper describes the MANDO MGH ESP (Electronic Stability Program) and consists of the control philosophy, hydraulic actuator and the simulation and test results. The ESP system controls the dynamic vehicle motion in the emergency situation such as the final oversteer and understeer and allows the vehicle to follow the course as desired by the driver. The MANDO MGH ESP is integrated with the existing MANDO MGH ABS/TCS, which is improved with the more information and controls both brake pressure and engine torque for the optimal performance. The look-up tables are emphasized to have the accurate target yaw rate of the vehicle and obtained from vehicle test for the whole operation range of the steering wheel angle and vehicle speed. The wheel slip control is applied for the yaw compensation and the target wheel slip is determined by error between the target yaw rate and actual yaw rate. The hydraulic actuator doesn't use the pre-charge element and its body block is same as that of MANDO MGH TCS. Since the ESP has a high severity level and robust control is required, thousands of failsafe and robustness tests are carried out in the laboratory using hardware-in-the-loop simulation and on the various kinds of test tracks. Both computer simulation and test results are showed in this paper.