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Vehicle stability based on g−g diagram through braking and driveline

This paper proposes a vehicle stability controller based on the “g−g” diagram, abbreviated as “g2-VSC”, which improves vehicle handling and dynamic response during critical driving situations. Based on a predefined operation region in the “g−g” diagram, the introduced controller determines the corrective yaw moment. Both differential braking and driving torque distribution are considered for generating the restoring yaw moment. While most of the existing braking- and driveline-based stability controllers rely on the side slip error or its phase plane analysis, the unavailability of onboard sensors that measure the vehicle's side slip angle imposes its online estimation. The originality of this work resides in deriving the control action according to the distance from actual measurements of lateral and longitudinal acceleration to a predefined operation region of the “g−g” diagram. The effectiveness of the proposed stability controller is proven in its capacity to restore stability in aggressive maneuvers compared to the response of a similar existing controller that relies on the distance relative to stable boundaries in the phase plane of the side slip angle. Numeric simulations are carried out on a 14 degrees-of-freedom model and CarSim® in the framework of MATLAB/Simulink®.