Enhancements in vehicle stability with yaw moment control via differential braking

A new yaw moment control algorithm with differential braking control is presented in this paper. The proposed controller utilizes the anti-lock braking system (ABS) to apply differential braking between the right and left wheels to generate the yaw moment. A fuzzy logic based ABS controller is also designed. As the vehicle side-slip angle can not be measured under reasonable cost, a nonlinear observer is introduced to give precise estimation in real time. Experimental tests on a commercial vehicle are conducted to evaluate both the side-slip angle observer and proposed control algorithm. Detailed experimental results show that the observer can give good estimation and the proposed system can improve vehicle stability for active safety purpose.