Abstract: This paper presents the design and validation of a Differential Braking（DB） controller for Sport Utility Vehicles（SUVs） using driver-in-the-loop real-time simulations. According to the driver’s logic, the desired vehicle states will be decided. While actual vehicle states deviate desired values, the control  system is applied to improve the lateral stability of SUVs. To derive the controller design, driver-in-the-loop real-time simulations are conducted on the UOIT（University of Ontario Institute of Technology） vehicle simulator. The Fishhook maneuver and double lane change test scenarios are simulated to examine the performance of the controller. The driver-in-the-loop real-time simulation results demonstrate the effectiveness of the proposed differential braking controller in the lateral rollover stability and maneuverability improvement of the SUV.

Key words: differential braking control;lateral stability, driver-in-the-loop, real-time simulations

摘要： 运用驾驶员在回路实时仿真系统设计SUV汽车防侧翻差动制动控制器并验证其有效性和可靠性。根据驾驶员的逻辑判断，得到理想的汽车行驶状态，当汽车行驶偏离理想值时，用控制系统来纠正SUV的横摆力矩。仿真实验在加拿大安省理工大学的汽车模拟器上进行，通过Fishhook和双移线工况对设计的控制器性能进行研究分析，对比控制前后对汽车侧向稳定性能的改善效果。仿真结果表明，所设计的控制器能有效提高汽车侧向稳定性和可操纵性。

关键词: 差动制动控制, 侧向稳定性, 驾驶员在环, 实时仿真