Integrated vehicle dynamic controls using active rear wheel steering and four wheel braking

This paper describes and compares two integrated dynamic controller systems (IDCs; IDCB, IDCR) and one active rear wheel steering system (ARS), developed to stabilise lateral dynamics and maintain steerability on a slippery road. The IDCs make use of a brake system and rear steering system. A fuzzy logic control method and a sliding mode control method were employed to design the three systems. The performance of the ARS and IDCs was tested under a variety of road and driving conditions. The results show that ARS and IDCs systems tracked the reference yaw rate under all tested conditions. Two IDCs reduced the body slip angle also. When a vehicle ran on a split-μ road and brake input was applied, IDCB and IDCR virtually eliminated the lateral dynamics. These results indicate that two IDCs enhanced lateral stability and preserved steerability.