Vehicle yaw stability control strategy based on rapid control prototype

Aiming at vehicle yaw stability control, the method for estimating vehicle´s side-slip angle is proposed by weighted state observer and immediate integration, also, a yaw stability controller is designed based on sliding mode control. The estimating method can be applied in vehicle´s linear and nonlinear operating conditions and the sliding mode controller can realize vehicle´s yaw stability control effectively. In order to analyze and verify control performance, sensor signals and drive signals of vehicle yaw stability control system are analyzed, furthermore, a method for designing rap id prototyping controller based on 16 bit single chip microcomputer, meanwhile, rapid prototyping controller´s function and developing method are introduced and discussed. In hardware-in-the-loop simulation system based on high-precision vehicle dynamics model, the yaw stability controller is verified through rapid control prototype in various conditions. The results show that the controller can satisfy the requirements of yaw stability control and the rapid control prototype can be used for the rapid development of control strategy.