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Moving horizon control for vehicle yaw stability based on states observer

In order to make the vehicle stable driving under different operating conditions, moving horizon control scheme based on state observer is presented. First, 2 degrees of freedom vehicle model is built. Then, the state observer is designed for sideslip angle estimation. Second, the error between actual yaw rate and sideslip angle are used as control value, and the additional yaw moment is obtained by using moving horizon schemes. Third, the stable condition for yaw stability controller is achieved by stability analysis. To verify the effectiveness of the proposed method, hardware-in-the-loop simulation is carried out under the representative running conditions. The simulation results show that the proposed method could improve the handling and stability effectively.