Automotive ABS/DYC Coordinated Control Under Complex Driving Conditions

This paper presents an antilock braking system/direct yaw-moment control (ABS/DYC) coordinated control scheme in order to shorten the braking distance while ensuring the vehicle stability during emergency braking under complex driving conditions. Particularly, the braking actuator failure and driving on low-mu, and mu-split roads are considered. The proposed control scheme is composed of three cascaded controllers. The first-level controller is used to derive and trace the desired yaw rate for DYC control based on the driver's intent, exert conventional ABS control to maximize the braking force without considering braking actuator fault occurrence, and synthesize constraint conditions such as braking actuator failure and so forth. The second-level controller is used to determine on which side to fully capitalize for the maximum tire/road adhesion utilization. The third-level controller is leveraged to realize optimal torque allocation to each actuation motor with the purpose of minimizing the tire load. The effectiveness of the proposed ABS/DYC coordinated control scheme is verified through both simulation and hardware-in-loop experimentation.