Research Papers

Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control

[+] Author and Article Information
Avesta Goodarzi

Department of Mechanical and Mechatronics Engineering,
University of Waterloo,
Waterloo, ON N2L 3G1, Canada
e-mail: avesta.goodarzi@uwaterloo.ca

Fereydoon Diba

Faculty of Engineering and Applied Science,
University of Ontario Institute of Technology,
Oshawa, ON L1H 7K4, Canada
e-mail: fereydoon.diba@uoit.ca

Ebrahim Esmailzadeh

ASME Life Fellow
Faculty of Engineering and Applied Science,
University of Ontario Institute of Technology,
Oshawa, ON L1H 7K4, Canada
e-mail: ezadeh@uoit.ca

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 9, 2012; final manuscript received April 22, 2014; published online July 9, 2014. Assoc. Editor: Shankar Coimbatore Subramanian.

J. Dyn. Sys., Meas., Control 136(5), 051026 (Jul 09, 2014) (13 pages) Paper No: DS-12-1335; doi: 10.1115/1.4027499 History: Received October 09, 2012; Revised April 22, 2014

Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.

Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.


Van Zanten, R. E., Landesfeind, K., and Pfaff, G., 1998, “VDC System Development and Perspective,” SAE Paper No. 980235. [CrossRef]
Cong, G., Mostefai, L., Denai, M., and Hori, Y., 2009, “Direct Yaw Moment Control of an In-Wheel-Motored Electric Vehicle Based on Body Slip Angle Fuzzy Observer,” IEEE Trans. Ind. Electron., 56(5), pp. 1411–1419. [CrossRef]
Boada, B. L., Boada, M. J. L., and Diaz, V., 2005, “Fuzzy-Logic Applied to Yaw Moment Control for Vehicle Stability,” Veh. Syst. Dyn., 43(10), pp. 753–770. [CrossRef]
Tagawa, Y., Ogata, H., Morita, K., Nagai, M., and Morri, H., 1996, “Robust Active Steering System Taking Account of Nonlinear Dynamics,” Veh. Syst. Dyn., 25(S1), pp. 668–681. [CrossRef]
Ackermann, J., Odenthal, D., and Bünte, T., 1999, “Advantages of Active Steering for Vehicle Dynamics Control,” 32nd International Symposium on Automotive Technology and Automation, Vienna, Austria, June 14–18, pp. 263–270.
Zeyada, Y., and Karnopp, D., 1998, “A Combined Active Steering Differential Braking Yaw Rate Control Strategy for Emergency Manoeuvres,” SAE Paper No. 980230. [CrossRef]
Piyabongkarn, D., Lew, J., Rajamani, R., Grogg, J. A., and Qinghui, Y., 2007, “On the Use of Torque-Biasing Systems for Electronic Stability Control,” IEEE Trans. Control Syst. Technol., 15(3), pp. 403–595. [CrossRef]
Goodarzi, A., and Esmailzadeh, E., 2007, “Design of a VDC System for All-Wheel Independent Drive Vehicles,” IEEE/ASME Trans. Mechatronics, 12(6), pp. 632–639. [CrossRef]
Canale, M., Fagiano, L., Milanese, M., and Borodani, P., 2007, “Robust Vehicle Yaw Control Using an Active Differential and IMC Techniques,” Control Eng. Pract., 15(8), pp. 923–941. [CrossRef]
Khatun, P., Bingham, C. M., Schofield, N., and Mellor, P. H., 2003, “Application of Fuzzy Control Algorithms for Electric Vehicle Antilock Braking/Traction Control Systems,” IEEE Trans. Veh. Technol., 52(5), pp. 1356–1364. [CrossRef]
Yi, K., Chung, T., Kim, J., and Yi, S., 2003, “An Investigation Into Differential Braking Strategies for Vehicle Stability Control,” J. Automot. Eng., 217(12), pp. 1081–1093. [CrossRef]
Goodarzi, A., and Diba, F., 2008, “Vehicle Dynamic Enhancement Using Controlled Moving Mass,” International Symposium on Advanced Vehicle Control, AVEC08, Kobe, Japan, Oct. 6–9
Goodarzi, A., and Diba, F., 2009, “Stabilizer Pendulum System (SPS) an Innovative System for Direct Yaw Moment Control,” 21st International Symposium on Dynamics of Vehicles on Road and Tracks, IAVSD09, Stockholm, Sweden, Aug. 17–21.
Karnopp, D., 2013, Vehicle Dynamics Stability and Control, CRC Press, Boca Raton, FL.
Pacejka, H. B., 2005, Tire and Vehicle Dynamics, Society of Automotive Engineers Inc., Warrendale, PA.
Smith, D. E., and Starkey, J. M., 1995, “Effects of Model Complexity on the Performance of Automated Vehicle Steering Controllers: Model Development, Validation, and Comparison,” Veh. Syst. Dyn., 24(2), pp. 163–181. [CrossRef]
Esmailzadeh, E., Vossoughi, G. R., and Goodarzi, A., 2001, “Dynamic Modeling and Analysis of a Four Motorized Wheels Electric Vehicle,” Veh. Syst. Dyn., 35(3), pp. 163–194. [CrossRef]
Esmailzadeh, E., Goodarzi, A., and Vossoughi, G. R., 2003, “Optimal Yaw Moment Control Law for Improved Vehicle Handling,” Mechatronics, 13(7), pp. 659–675. [CrossRef]
Baffet, G., Stephant, J., and Gharara, A., 2006, “Vehicle Sideslip Angle and Lateral Tire-Force Estimation in Standard and Critical Driving Situations: Simulations and Experiments,” International Symposium on the Advanced Vehicle Control, AVEC06, Taipei, Taiwan.
Wei, J., Zhuoping, Y., and Lijun, Z., 2006, “Integrated Chassis Control System for Improving Vehicle Stability,” IEEE International Conference on Vehicular Electronics and Safety, ICVES 2006, Beijing, Dec. 13–15.
Ghoneim, Y. A., Lin, W. C., Sidlosky, D. M., Chen, H. H., Chin, Y., and Tedrake, M. J., 2000, “Integrated Chassis Control System to Enhance Vehicle Stability,” Int. J. Veh. Des., 23(1/2), pp. 124–144. [CrossRef]
Kirk, D. E., 2004, Optimal Control Theory an Introduction, Prentice-Hall Inc., New York.
Wong, J. Y., 2008, Theory of Ground Vehicles, 4th ed., John Wiley & Sons Inc., New York.
Goodarzi, A., Esmailzadeh, E., and Sabooteh, A., 2008, “Automatic Path Control Based on Integrated Steering and External Yaw Moment Control,” Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 222(2), pp. 189–200. [CrossRef]
Taghirad, H. D., and Esmailzadeh, E., 1998, “Automobile Passenger Comfort Assured Through LQG/LQR Active Suspension,” J. Vib. Control, 4(5), pp. 603–618. [CrossRef]
Esmailzadeh, E., and Fahimi, F., 1997, “Optimal Adaptive Active Suspensions for a Full Car Model,” Veh. Syst. Dyn., 27(2), pp. 89–107. [CrossRef]


Grahic Jump Location
Fig. 1

A cheetah in turn while running

Grahic Jump Location
Fig. 2

SPS located in the trunk

Grahic Jump Location
Fig. 3

Free body diagram of linear vehicle model with SPS

Grahic Jump Location
Fig. 4

Nonlinear vehicle handling model with 9-DOF

Grahic Jump Location
Fig. 5

Validation results of the vehicle nonlinear handling model

Grahic Jump Location
Fig. 6

Block diagram of the controller system

Grahic Jump Location
Fig. 8

Vehicle and pendulum responses for changes in pendulum location

Grahic Jump Location
Fig. 13

Power consumptions of the SPS under different maneuvers

Grahic Jump Location
Fig. 7

Variations of optimum controller gains with vehicle longitudinal velocity

Grahic Jump Location
Fig. 9

Vehicle and pendulum responses for changes in pendulum mass

Grahic Jump Location
Fig. 10

Vehicle and pendulum responses for different ratios of d/e2

Grahic Jump Location
Fig. 11

Yaw velocity gain versus vehicle longitudinal velocity

Grahic Jump Location
Fig. 12

Transient response factors versus longitudinal velocity

Grahic Jump Location
Fig. 16

The kinematic diagram of vehicle and pendulum

Grahic Jump Location
Fig. 14

First case study: simulation results of lane change maneuver on an icy road

Grahic Jump Location
Fig. 15

Second case study: simulation results of road lane change maneuver on an icy road




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In