Vehicle Direct Yaw Moment Control Based on Tire Cornering Stiffness Estimation

Direct yaw moment control (DYC) is an active safety technique developed in recent years to improve vehicle handling dynamics. Delayed or excessive intervention is a common problem in traditional logic threshold control algorithm due to the vehicle inertia. To improve the control effect, model predictive control (MPC) is applied in stability control which relies significantly on the accuracy of reference model. In this paper, a MPC stability controller with tire cornering stiffness estimation is proposed. The reference model is modified online by correcting tire cornering stiffness. In this way, yaw rate can be better predicted which improves the control effect. The effectiveness of the proposed algorithm is compared with a MPC controller with constant tire cornering stiffness and a traditional logic threshold controller through numeric simulation. The simulation result indicates that the handling performance of the proposed controller is improved from that without tire cornering stiffness estimation.