400 Commonwealth Drive, Warrendale, PA 15096-0001 U.S.A. Tel: (724) 776-4841 Fax: (724) 776-5760 Web: www.sae.org 2005-01-1591 Enhanced Traction Stability Control System Youssef A. Ghoneim, Willia m C. Lin and Yuen-Kwok Chin General Motors Corporation, Research and Development Center David M. Sidlosky General Motors Corporation, Product Development Reprinted From: Brakes and Electronic Stability Control (SP-1914) 2005 SAE World Congress Detroit, Michigan April 11-14, 2005 SAE TECHNICAL PAPER SERIESDownloaded from SAE International by University of New South Wales, Sunday, August 26, 2018The Engineering Meetings Board has approved this paper for publication. It has successfully completed SAE’s peer review process under the supervision of the session organizer. This process requires a minimum of three (3) reviews by industry experts. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise,without the prior written permission of SAE. For permission and licensing requests contact: SAE Permissions 400 Commonwealth DriveWarrendale, PA 15096-0001-USAEmail: [email protected]: 724-772-4028Fax: 724-772-4891 For multiple print copies contact: SAE Customer ServiceTel: 877-606-7323 (inside USA and Canada)Tel: 724-776-4970 (outside USA)Fax: 724-776-1615Email: Customer [email protected] ISSN 0148-7191Copyright © 2005 SAE International Positions and opinions advanced in this paper are those of the author(s) and not necessarily those of SAE. The author is solely responsible for the content of the paper. A process is available by which discussions will be printed with the pap er if it is publishe d in SAE Transactions. Persons wishing to submit papers to be considered for presentation or publication by SAE should send themanuscript or a 300 word abstract to Secretary, Engineering Meetings Board, SAE. Printed in USADownloaded from SAE International by University of New South Wales, Sunday, August 26, 20182005-01-1591 Enhanced Traction Stability Control System Youssef A. Ghoneim, William C. Lin and Yuen-Kwok Chin General Motors Corporation, Research and Development Center David M. Sidlosky General Motors Corporation, Product Development Copyright © 2005 SAE International ABSTRACT This paper is directed to an E nhanced T raction S tability Control System (ETSC) that is based on the estimate of vehicle yaw rate and does not require yaw rate or lateral accelerometer sensors information. The validity of the yaw rate estimate is determined and used to select the appropriate control methodology. We estimate the vehicle yaw rate based on the measured speeds of the un-driven wheels of the vehicle, and we utilize various other conditions to determine if the estimated yaw rate is valid for control purposes. When it is determined that the yaw rate is valid, a combined closed-loop yaw rate feedback, and an open-loop feed-forward derivative control based on the driver input is employed. Whereas in conditions under which it is determined that the estimated yaw rate is not valid, an open-loop feed-forward control with a proportional, derivative and a diminishing integrator terms, is employed. In addition, we develop a bank angle compensation algorithm using the steering angle, vehicle speed, and the estimated yaw rate to compensate for the effect of banked road. Test results indicate marked enhancement of vehicle stability with ETSC when compared with ABS and TCS. Finally, we present test results to compare the performance of ETSC system to yaw rate feedback control only E lectronic S tability C ontrol System (ESC) using yaw rate and lateral accelerometer sensors information . INTRODUCTION Chassis control technology has achieved noteworthy progress, thanks to advancements in sensing and computing technologies as well as advances in estimation and control theories. One such enhanc