ABSTRACT
A direct yaw moment control (DYC) controlling vehicle motion by a yaw moment which is actively generated by transversally distributed tire longitudinal forces is becoming one of the most promising means of chassis control for the improvement of vehicle active safety. A simple nonlinear tire model on board is used in the sliding control to calculate the control yaw moment as well as in estimating vehicle side-slip angle for the control. An analysis with a computer simulation shows the effects of the side-slip model following control on improving active safety. The response error of the vehicle side-slip angle from the model response primarily caused by the tire nonlinear characteristics and acceleration or braking would require the control yaw moment to control the side-slip angle. The most common approach to obtain the side-slip angle is to use pseudo-integration of lateral acceleration and yaw rate, though this will cause a significant integration error.
