Direct yaw moment control system based on driver behaviour recognition

Abstract

This paper proposes a direct yaw moment control (DYC) algorithm based on the recognition of driver steering intention. To reflect the driver steering behaviour on DYC algorithm, two types of desired yaw rates are proposed. One is for the regulation of lateral deviation as lane-keeping function and the other is for the regulation of side-slip angle as vehicle stability control. In the control algorithm, two types of desired yaw rates are switched by a weighting coefficient according to the driver steering behaviour, which is recognised with the application of the Hidden Markov Model. Finally, the effectiveness of recognition algorithm is verified and the effectiveness of the proposed DYC system on driver–vehicle system is proved by using experimental vehicle.