ABSTRACT
An important aspect of lateral dynamics and thus path-following is yaw stability control. It refers to control of yaw dynamics, which is characterized mainly by the lateral acceleration, the sideslip angle and the yaw rate. The ultimate goal is to control vehicle states defined by the above-listed three parameters to their desired targets, for example, to the steady states. The yaw stability control has been a big focus since the introduction of the very first on-board active systems that regulate vehicle stability, such as the electronic stability control designed in the early 1990s. The objective of the yaw stability control is to improve both vehicle stability and handling during a turn by preventing vehicle from spinning about the normal axis and drifting out of the path curve. The steady-state of the yaw rate and the sideslip angle leads to a steady lateral acceleration of the vehicle.
