Hierarchical control for integrated vehicle dynamic stability

The current vehicle dynamic stability control system is mostly concentrated on yaw stability and can not provide the adequate roll stability for vehicles with elevated center of gravity (CG). During critical steering, the variant vertical force of tire due to the roll motion may not only cause rollover accidents, but also affects yaw stability. This paper focuses on integrated control for vehicle dynamic stability using differential braking and semi-active suspension. Specifically, this integrated control system is conducted according to a two-level hierarchical architecture. The upper level controller is a coordinating controller which is used for coordinating the two lower level controllers, i.e. differential brake controller and semi-active suspension controller. The entire system is based on a combined dynamics model of vehicle which is presented in previous works. It can guarantee both roll and yaw dynamic stability, thus achieving preventions of both rollover and skid.