Improvements in vehicle handling and stability by a novel wheel slip coordination control scheme

A novel control scheme is proposed to improve the vehicle stability by coordinating the slips of the two wheels on the same side simultaneously. This scheme is a three-level structure that includes the first level of yaw moment controller, the second level of brake force distributor and the third level of wheel slip regulator. Brake force distributor distributes the desired brake forces to the two wheels on the same side properly and the wheel slip regulator is designed to track the desired slips from the brake force distributor. Simulation results of the proposed control scheme are rather satisfying.