Testing direct yaw moment control using a scaled car and a roadway simulator

This paper describes a direct yaw moment control algorithm which was developed and tested using a front-wheel drive scaled electric car driving on a treadmill. The algorithm generates torque references for each wheel based on the desired yaw rate. The scaled vehicle’s parameters are chosen with the goal of achieving dynamic similitude to a full-size vehicle using the Buckingham Π theorem. Using a scaled vehicle and a roadway simulator allows for easier deployment and testing of control algorithms for vehicle dynamics.