Advanced yaw control of four-wheeled vehicles via rear active differential braking

@article{Corno2009AdvancedYC,
  title={Advanced yaw control of four-wheeled vehicles via rear active differential braking},
  author={Matteo Corno and Mara Tanelli and Ivo Boniolo and Sergio M. Savaresi},
  journal={Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference},
  year={2009},
  pages={5176-5181}
}
In this paper, the problem of active lateral dynamics control of four-wheeled vehicles during braking is addressed. In certain specific conditions, a vehicle may deviate from straight line trajectory even if the steering wheel is kept still and straight. By applying a differential brake pressure, it is possible to generate a yawing moment to recover the desired trajectory. An analytical model of the vehicle dynamics of interest is derived and validated against experimental data; the model… CONTINUE READING

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