Abstract: The tire-road friction characters and the tire force characters on the low friction conditions are studied. The 2-DOF vehicle model with four wheels is developed based on the HSRI tire model, and then the vehicle dynamics stability characteristic is studied for the real driving conditions. Applying the β method, the controllable range of the vehicle dynamics stability control system is analyzed. Then the characters of the vehicle stability, the axle stability, and the tire stability are integrated to study the control objects of the differences of the vehicle slip angle and the yaw rate. Based on the analysis, the vehicle dynamics stability control strategy on the low friction condition is brought forward, and then verified by the hardware-in-the-loop-system simulation and the real vehicle test on the winter test ground.

Key words: Active yaw moment control, Control strategy, Low tire-road friction, Vehicle dynamic stability control, β-method