An experimental study on vehicle lateral and yaw motion control

A vehicle lateral velocity and yaw rate control algorithm based on a front and rear independent steering system has been proposed. The authors describe a steering actuator control algorithm and practical aspects involved in implementation of the vehicle lateral velocity and yaw rate controller. An experimental vehicle prepared for the evaluation of the algorithm is introduced. An LQ regulator-based synchronized controller is adopted to control independently actuated right and left steering at the same angle. The vehicle lateral and yaw motion control performance, including the steering actuator control subsystem, is evaluated based on experiments with the vehicle