Vehicle position control during path diversion

摘要

The vehicle position control utilises a steering control system (5) that functions in conjunction with the individually functioning brake modules (2) under the hydraulically operated brake unit (3). Several sensors covering parameters of interest, such as wheel rpm (6), lateral acceleration (7), yaw rate (8), steering angle (9) feed the monitored data of vehicle status to the steering control system.During cornering, path switching situations, understeering conditions are sought to be prevented. This is achieved through a supplementary effort that generates a yaw moment through selective braking of the inner wheels. The parameters of interest here are the steering angle ( theta H), time rate of steering angle variation ( theta H') and the rate of wheel slip (rho). The selective braking, functions within set limits for rho