(汽车运动与控制)fulltext8.pdf

Chapter 8 ELECTRONIC STABILITY CONTROL INTRODUCTION 8.11 The functioning of a stability control system Vehicle stability control systems that prevent vehicles from spinning and drifting out have been developed and recently commercialized by several automotive manufacturers. Such stability control systems are also often referred to as yaw stability control systems or electronic stability control systems. Figure 8-1 schematically shows the function of a yaw stability control system. In this figure, the lower curve shows the trajectory that the vehicle would follow in response to a steering input from the driver if the road were dry and had a high tire-road friction coefficient. In this case the high friction coefficient is able to provide the lateral force required by the vehicle to negotiate the curved road. If the coefficient of friction were small or if the vehicle speed were too high, then the vehicle would not follow the nominal motion expected by the driver - it would instead travel on a trajectory of larger radius (smaller curvature), as shown in the upper curve of Figure 8-1. The function of the yaw control system is to restore the yaw velocity of the vehicle as much as possible to the nominal motion expected by the driver. If the friction coefficient is very small, it might not be possible to entirely achieve the nominal yaw rate motion that would be achieved by the driver on a high friction coefficient road surface. In this case, the yaw control system might only partially succeed by making the 222 Chapter 8 vehicles yaw rate closer to the expected nominal yaw rate, as shown by the middle curve in Figure 8-1.