Development and evaluation with MIL and HIL simulations of a LQR-based upper-level electronic stability control

This paper proposes an electronic stability control and shows MIL and HIL simulations performed for evaluation. Two designs are presented, one based on two-degrees-of-freedom linear model that includes side-slip and yaw motion and other based on three-degrees-of-freedom linear model that includes roll motion. Model-in-the-loop and Hardware-in-the-loop simulations were performed to test ESC on vehicle represented by a nonlinear model that considers lateral, yaw and roll motions and an intelligent driver model to generate the steering wheel command as driver reaction to vehicle motion in respect with desired path. It's found from simulations for double lane change maneuver that the proposed controller is effective in reducing of side-slipping, rolling and yaw rate errors, keeping the steering stable in scenarios where the driver loses control of the vehicle, even in presence of disturbances in vehicle response in relation with response predicted by linear model used for control design.