Vehicle yaw rate control using tyre force measurements

Controlling vehicle yaw rate is crucial for vehicle safety. In this work, a novel computationally inexpensive yaw rate controller using tyre force measurements is proposed. Most of the yaw rate controllers use a tyre model that introduces modeling error because of the tyre model nonlinearities and uncertainties. This may degrade the controller performance. On the other hand, modeling with tyre force measurements improves the model accuracy and therefore improves the controller performance. The proposed yaw rate controller uses a nonlinear yaw rate model and Lyapunov function based control design. A stability analysis is also provided for the closed loop vehicle. The controller is studied in a multi-body vehicle simulator for split mu and Sine With Dwell maneuvers.