Using  Feedforward for Vehicle Stability Enhancement

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A differential braking control strategy using yaw rate feedback, coupled with  feedforward is introduced for a vehicle cornering on different  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  offers significant improvement of the vehicle desired trajectory over that of a yaw rate controller alone. Uncertainties and time delay in estimating  are shown to still yield a system that is superior to using no  information at all.

Document Type: Research Article


Publication date: February 1, 2001

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