Browse Publications Technical Papers 2013-01-0690

Online Estimation of Vehicle Stability Factor for Electronic Stability Control 2013-01-0690

Electronic stability control (ESC) is becoming a standard technology in passenger cars, and because of its effectiveness in reducing serious traffic accidents, its use is spreading to commercial vehicles. ESC is activated by comparing the target vehicle behavior, which is analyzed based on driver operation, with the actual vehicle behavior, which is detected by onboard sensors. The target vehicle behavior is analyzed with an initial steer characteristic (such as a vehicle stability factor Ks) representing a vehicle turning characteristic (understeer, neutral steer, or oversteer). Because Ks changes depending on the payload loading states (such as vehicle mass and location of center of gravity), it varies considerably for commercial vehicles.
We analyzed the influence of error in Ks on ESC performance and established a method for the online estimation of Ks. ESC includes the restriction functions of oversteer and understeer. When the preset Ks value differs from the actual value, one of these functions tends to be activated, and activation of the other function is difficult. To compensate for the error in Ks, we developed an algorithm by using a histogram of the estimated values. To improve the estimation accuracy of this estimation algorithm, we found that uncertain estimated values can be eliminated when there is no difference between the actual vehicle behavior and its behavior at the tire friction limit. We verified the effectiveness of this online estimation through vehicle tests.


Subscribers can view annotate, and download all of SAE's content. Learn More »


Members save up to 16% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:

On the Impact of the Maximum Available Tire-Road Friction Coefficient Awareness in a Brake-Based Torque Vectoring System


View Details


Development of Driving Control System Based on Optimal Distribution for a 6WD/6WS Vehicle


View Details


Adaptive EKF-Based Estimator of Sideslip Angle Using Fusion of Inertial Sensors and GPS


View Details