Yaw Rate Control utilizing Wheel Slip Regulation in Combined Emergency Braking and Cornering of Heavy Road Vehicles

An Antilock Brake System (ABS) effectively prevents wheel lock during straight-line braking. However, during combined emergency braking and cornering, ABS alone may not ensure vehicle stability and may result in loss of directional stability. Hence, yaw rate control is necessary for critical cornering scenarios. This study evaluates an existing ABS algorithm in combined braking and cornering scenarios and presents the limitations of ABS in such situations. Further, it proposes a rule-based yaw rate controller which considers the reference value of the wheel slip given to the ABS. The yaw rate controller is evaluated in a hardware-in-loop setup having a brake actuator and utilizing IPG TruckMaker® for simulation of vehicle dynamics. The proposed algorithm reduced the absolute normalized error in yaw rate tracking from 40.3% of the baseline case to 12.7%.