A reference vehicle model applied to electronic stability control (ESC) system

A reference vehicle model is proposed for ESC system, which is used for estimating if the vehicle is in stable conditions. The proposed model is a 2-DOFs nonlinear model that contains the lateral motion and rotational motion around vertical axis. When ESC system works, the lateral acceleration is often above 0.4g and the nonlinearity of vehicle can't be ignored. Therefore the nonlinear relationship between lateral force and slip angle of tire is considered in the model. The proposed model can calculate the desired state parameters such as yaw rate accurately and reflect the intention of driver better. Through the co-simulation of MATLAB and CarSim, the feasibility and availability of the model is validated. The ESC system using proposed reference model works more effective compared to the one using traditional linear bicycle model. Besides that, the model is simple and easily embedded into ECU, which makes it easier to be applied to industrial fields.