International Journal of Automotive Technology

, Volume 18, Issue 6, pp 993–1006 | Cite as

Vehicle stability control based on driver’s emergency alignment intention recognition

  • Xia Xin
  • Xiong Lu
  • Hou Yuye
  • Teng Guowen
  • Yu Zhuoping


In this work, the reference model modification strategy for vehicle stability control based on driver's intention recognition under emergent obstacle avoidance situation was proposed. First the conflicts between the driver's emergency alignment (EA) intention and vehicle response characteristics were analyzed in critical emergent obstacle avoidance situation. Second combining steering wheel angle and its speed, the driver's EA intention was recognized. The reference model modification strategy based on steering operation index (SOI) was presented. Then a LQR model following controller with tire cornering stiffness adaption was used to generate direct yaw moment for tracking modified reference yaw rate and reference sideslip angle. Finally based on the four-in-wheel-motor-drive (FIWMD) electric vehicles (EV), double lane change and slalom tests were conducted to compare the results using modified reference model with the results using normal reference model. The experimental tests have proved the effectiveness of the reference model modification strategy based on driver's intention recognition.

Key words

Emergent obstacle avoidance Driver's EA intention recognition Reference model modification Stability control 



desired yaw rate, rad/s


reference yaw rate


modified reference yaw rate


vehicle mass


front equivalent cornering stiffness


rear equivalent cornering stiffness


wheel base


distances from the front axis to COG


distances from the rear axis to COG


longitudinal velocity


maximum road friction coefficient


steering angle of front wheel


steering ratio


acceleration of gravity


sideslip angle

\(\dot \beta \)

derivative of sideslip angle


lateral acceleration


yaw rate


Laplace operator


vehicle yaw moment of inertia


nominal steering wheel angle


actual steering wheel angle

\({\dot \delta _{sw}}\)

derivative of actual steering wheel angle


lower limit of steering wheel angle

\({\dot \delta _{sw\_lower\;limit}}\)

derivative of lower limit of steering wheel angle speed


time threshold before activating the recognition module


time threshold before turning off the recognition module

βlower limit

lower limit of reference sideslip angel

βupper limit

upper limit of reference sideslip angel


reference sideslip angel


direct yaw moment


observed vector


measured vector


estimated vector


forgetting factor of front axle


forgetting factor of rear axle


weight matrix of control tracking error


weight matrix of control input


effectiveness matrix


front wheel base


rear wheel base


control input


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  • Xia Xin
    • 1
    • 2
  • Xiong Lu
    • 1
    • 2
  • Hou Yuye
    • 1
    • 2
  • Teng Guowen
    • 1
    • 2
  • Yu Zhuoping
    • 1
    • 2
  1. 1.School of Automotive StudiesTongji UniversityShanghaiChina
  2. 2.National “2011” Collaborative Innovation CenterTongji UniversityShanghaiChina

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