A personalized direct yaw moment control to improve vehicle handling and lateral stability through the driver-centric reference yaw rate model

Advanced vehicle handling and stability assistance systems has consistently guaranteed the safety and comfort of modern vehicles in recent years. However, the challenge of combining drivers and dynamic response of vehicle-road system has remained a significant obstacle in the field of vehicle handling and stability control. To enhance the vehicle handling and lateral stability in vehicle dynamics control, this paper proposed a hierarchical personalized direct yaw moment control based on driver-centric reference yaw rate model. A driver-centric yaw rate reference model is established to optimize the overall performance of the human-vehicle system by considering the vehicle stability and road curvature as well as the driver’s expectation and preference. The reference yaw rate is expressed as the sum of two parts, one related to driving path and the other related to the vehicle stability. The final value is determined by stylization weighting analyzed from driving data. Moreover, an adaptive sliding mode (ASMC) method is designed in directed yaw moment control (DYC) to face the vehicle parameters uncertainty under extreme conditions. By simulation maneuver under different test conditions with various road adhesion values, the proposed controller is proved that can meet the subjective preferences of drivers and coordination of handling and stability.