264 Vehicle Stability Enhancement by Simultaneous Traction and Braking Control in Vehicles Utilizing Active Differentials

This paper investigates the improvement of the vehicle dynamics performance by the use of a rear limited slip differential. A front t anti-lock braking system will support active differential in generating yaw moment, if necessary an optimal linear quadratic regulator (LQR) controller is employed together with an elaborate six-degree-of-freedom (DOF) linear vehicle model. Simulation results by 9DOF nonlinear vehicle model and magic formula in different maneuvers and road conditions shows the capability of designed robust integrated controller in keeping stability in various conditions especially at cornering situations while accelerating, at which the other control methods based on braking decelerate the vehicle not in favour of the driver's desires.