Research on a coordinated cornering brake control of three-axle heavy vehicles based on hardware-in-loop test

A direct yaw moment controller/anti-lock braking system (DYC/ABS) coordinated cornering brake control scheme is proposed for three-axle vehicles to improve the handling performance while shortening the brake distance. A proportional-integral method is designed in DYC control. The cornering stiffness of the two-degrees of freedom vehicle model is fitted in real time. The Dugoff tire model is used t...