Current advances in the application of control systems to vehicle
dynamics has made it practicable to improve the vehicle’s longitudinal, lateral
and vertical dynamics. Some of the examples of application of these systems to
vehicle control are traction control (longitudinal dynamics) to prevent wheel
slip, ESP (lateral dynamics) to prevent loss of stability, and active suspension
(vertical dynamics) to increase ride comfort. In this paper, the vehicle lateral
motion is controlled by direct yaw control (DYC) method. This uses the yaw
moment produced by the longitudinal forces of the tyres, for stabilising the
vehicle motion during critical cornering conditions. The system is been
designed to give substantially enhanced active safety and dynamic handling
control. The vehicle dynamics control algorithm is developed for a FOX
vehicle by controlling couple traction/braking torque of the four in-wheel
motors, from basic driving slogans. These are the steering angle, position of the
accelerator pedal and brake by the position of the brake pedal, as shown in
Figure 1
