Modeling and simulating research of ABS/ASR/ESP integrated control system for automobile

Considering the effects of ABS/ASR, an 8-D nonlinear dynamic model of vehicle was set up. Choosing vehicle slip angle and the yaw velocity as control variables, the ESP optimal controller of vehicle was designed. Simulation on the 8-D nonlinear vehicle with ABS/ASR/ESP control in Matlab/Simulink software environment was described. The simulation suggests, compared with ABS/ASR control, the ESP controller can obtain smaller slip angle and better yaw rate response, the handling and stability performance was particularly improved.