The invention discloses an ESC
vehicle driving dynamic control method based on a rear wheel
steering system, and belongs to the field of vehicle
dynamic control, and the method comprises the following steps: S1, determining the steering
transmission ratio of a vehicle; s2, determining generalized characteristic vehicle speeds of the vehicle under various working conditions; s3, a rear wheel
steering angle is imported to determine the
yaw velocity of a reference vehicle; s4, whether the ESC
system is activated or not is determined based on the difference value between the reference vehicle
yaw velocity and the actual vehicle
yaw velocity, and when the ESC
system is activated, the step S5 is executed; and S5, calculating a control quantity by taking the difference value as a return quantity of closed-
loop control. By the adoption of the ESC vehicle running
dynamic control method based on the rear wheel
steering system, the rear wheel
steering angle is introduced into the two-degree-of-freedom model, the calculation accuracy of the ESC reference yaw velocity is improved, and the problem that due to the fact that the two-degree-of-freedom model does not consider the influence of the rear wheel yaw angle on the vehicle dynamic characteristics, ESC misoperation or no operation is caused is solved.