Comparison and evaluation of brake yaw motion controllers with an antilock brake system

Two brake yaw motion controllers (BYMC1 and BYMC2) designed to enhance the lateral stability and controllability of cars on slippery roads were evaluated. The motion controllers control the inner rear wheel slip of a vehicle engaged in turning manoeuvres or running on a split-p road. Their performance was compared with that of a vehicle equipped with an antilock brake system under various road and driving conditions. The results Show that the motion controllers reduce the vehicle slip angle and tyre slip angle under all conditions. They also reduce the yaw rate and the lateral acceleration on a split-mu road, and decrease the response variation during lane-change manoeuvres. BYMC1 and BYMC2 extended the limits of adhesion between tyre and road, and increased lateral stability and controllability.