Adaptive vehicle stability control by means of tire slip-angle feedback

This study investigates the use of tire slip-angle feedback in the development of an adaptive control method for vehicle stability. The estimates for tire slip-angle variations are provided through a sensor fusion approach that integrates measurements from an intelligent tire system with results from a sliding mode observer. The algorithm yields to a control law in terms of an auxiliary steering angle to be added on the driver´s input and a desired yaw moment implemented through a differential braking scheme. The proposed observers and control algorithms are evaluated using numerical analysis and tested under an evasive double lane change maneuver which shows successful stabilization and further improvement compared to a conventional algorithm based on yaw-rate feedback.