Adaptive fail-safe yaw moment control for integrated chassis control using least mean square

This paper presents an adaptive fail-safe yaw moment control for an integrated chassis control with active front steering and electronic stability control functions, controlled by X-by-wire systems. Owing to the nature of motor-driven devices, sensor faults are inherent in steer-by-wire (SBW) and brake-by-wire (BBW) systems and can cause critical damage to vehicles. A simple direct yaw moment control is adopted to design a fail-safe integrated chassis control. To cope with sensor failure in SBW systems, an adaptive algorithm, the least mean squares method, is adopted in the procedure for yaw moment distribution. Simulations on a vehicle simulation software, CarSim, show that the proposed method is effective in case of sensor failures in SBW systems.