Self-tuning fuzzy PID applied to direct yaw moment control for vehicle stability

Although the conventional PID controller is widely used, there has been limited success in the yaw moment control of the vehicle with obvious nonlinearities. This paper presents a controller based on self-tuning fuzzy PID to improve vehicle handling and stability simultaneously. The controller contains a conventional PID controller and fuzzy controller which could tune the parameters of PID controller on-line. Results of both the off-line simulation and the HIL (hardware-in-the-loop) simulation have shown the effectiveness of the fuzzy PID method when the vehicle is in lane change maneuver.