SAE International Design of an Integrated Yaw-Roll Moment and Active Front Steering Controller using Fuzzy Logic Control 2017-01-1569

This paper presents an advanced control system, which integrates three fuzzy logic controllers namely; Direct Yaw-moment Control (DYC), Active Roll-moment Control (ARC) and Active Front Steering (AFS) to enhance vehicle cornering and overturning stability. Based on a well-developed and validated fourteen degree of freedom (DOF) full vehicle model with non-linear tire characteristics, a reference 3-DOF yaw-roll plane vehicle model is introduced to control yaw rate, sideslip angle, and roll angle of the vehicle body. The control actions of both direct yaw and active roll moments are performed by generating differential braking moments across the front wheels, while the control action of the active steering is performed by modifying the steering wheel angle. Different standard cornering tests are conducted in MATLAB / Simulink environment such as J-turn, fishhook and lane change maneuvers. The simulation results show a substantial improvement in vehicle stability by employing the proposed integrated controller compared to that of the individual controllers and the conventional vehicle without control.