A compensated-yaw-moment-based vehicle stability controller

This paper describes an ESP (Electronic Stability Program) controller system which acts on the brake system to generate a corrective yaw moment that helps the vehicle to follow the course desired by the driver. The corrective yaw moment, referred to as compensated yaw moment, is based on the estimation of the desired yaw rate as well as the sideslip angle. The pressure control is obtained by a fuzzy logic controller (FLC) and optimized by using genetic algorithms (GAs). A hydraulic pressure model is developed for the EHB (Electro-Hydraulic Brake) system and implemented in the simulated system. Simulations are implemented for various emergency driving situations to verify the system performance.