Coordinated control with electronic stability control and active front steering using the optimum yaw moment distribution under a lateral force constraint on the active front steering

This paper presents an optimum yaw moment distribution scheme with electronic stability control and active front steering for vehicle stability control. Direct yaw moment control is used to derive the control yaw moment needed to stabilize the lateral motion of a vehicle. The yaw moment distribution is formulated as an optimization problem, whose objective is to coordinate the braking of electronic stability control and the corrective steering obtained by active front steering. To tune the relative magnitude of the braking of electronic stability control to the corrective steering obtained by active front steering, an adaptive tuning rule is proposed. To cope with the situation that the lateral tyre force of active front steering exceeds its physical limit, a new constraint is added to the original optimization problem. To solve the problem, weighted pseudo-inverse-based control allocation is adopted. By using the vehicle simulation software CarSim (R), the proposed method is shown to be effective for coordination between electronic stability control and active front steering.