Integrated control of variable torque distribution and electronic stability program based on slip angle phase

In this paper, an integrated vehicle dynamics control system is designed to improve vehicle handling and stability by coordinating control of Variable Torque Distribution (VTD) and Electronic Stability Program (ESP). The control system includes a coordinated controller in the upper layer and two subsystems controller in the lower layer. The control algorithm is based on the slip angle (β-β) phase plan to identify the driving situations and a rule based integrated scheme is employed to determine and allocate the control tasks between two subsystems. The simulation results demonstrate that the proposed control strategy is able to increase the tracking performance of the reference yaw rate and improve the driving steer ability of the vehicle.