Simulation of Vehicle ESP Based on Adaptive Fuzzy PID Control

Electronic Stability Program (ESP) is an important active safety system of the vehicle, its important to improving the lateral stability of the vehicle. In this paper, a seven degrees of freedom vehicle dynamics model is built in MATLAB. A hierarchical controller is designed with the yaw rate as the control variable. The adaptive fuzzy-PID control is used as the upper controller to calculate the additional yaw moment. The differential brake control is used as the lower controller to calculate the brake force and strategy of distribution. Then simulate a series of driving scenarios. The results show that the proposed approach can achieve good control effect, and it satisfies the lateral stability control under various conditions.