A Novel Direct Yaw Moment Control System for Autonomous Vehicle
Although autonomous driving technology has become an emerging research focus, safety is still the most crucial concern when autonomous vehicles leave research laboratory and enter public traffic. Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment, is an important system to ensure the driving stability of vehicle under extreme conditions. Traditional DYC system must need to take into account driver’s intention and vehicle dynamics. However, for autonomous vehicle, no human is involved in driving process, and enforcing traditional DYC system may conflict with the demands of the desired path. Therefore, in this paper, a novel DYC system for autonomous vehicle is proposed to simultaneously suppress lateral path tracking deviation while maintaining autonomous vehicle stability at or close to the driving limits. In the hardware aspect, an integrated-electro-hydraulic brake (IEHB) actuator scheme is adopted.