Vehicle lateral dynamics control

This document deals with the controlled system of l ateral vehicle dynamics regulated in terms of a ref erence model outputs. The reference model means a simplified mathematical vehicle model, which describes the desired lateral movements of a vehicle. The output of the r eference model produces the most optimal trajectory in various driving conditions. The target of the control s trategy is to hold the vehicle on this trajectory. Mathematical model of the vehicle and the reference model were c reated in the Matlab ‐ Simulink software. The final product of the regulation was the corrective torque that ha d the stabilization effect on the controlled vehicl e. By the simulations there were used user-defined maneuvres such as curve driving, avoidance maneuvre together with maneuvres defined by directives. The result was the c omparison of the produced corrective torques of the control strategy for the defined driving states. © 2007 University of West Bohemia. All rights reser ved.