Model-building for vehicle yaw dynamics

Building the yaw dynamics model is fundamental to vehicle yaw stability control. Considering the characteristics of the vehicle yaw stability control, we propose a nonlinear discrete yaw dynamics model for a vehicle by combining the vehicle yaw dynamics, wheel dynamics and the nonlinear characteristics of tires. In this model, wheel frictional forces are considered as time-varying variables; to estimate these time-varying variables, a discrete sliding mode observer is designed. Finally, in a high-accurate simulation environment for the vehicle dynamics, results validate the accuracy in the estimation of wheel frictional forces, and the efficacy of the proposed model for the vehicle yaw dynamics.