A road adhesion coefficient-tire cornering stiffness normalization method combining a fractional-order multi-variable gray model with a LSTM network and vehicle direct yaw-moment robust control

A normalization method of road adhesion coefficient and tire cornering stiffness is proposed to provide the significant information for vehicle direct yaw-moment control (DYC) system design. This method is carried out based on a fractional-order multi-variable gray model (FOMVGM) and a long short-term memory (LSTM) network. A FOMVGM is used to generate training data and testing data for LSTM network, and LSTM network is employed to predict tire cornering stiffness with road adhesion coefficient. In addition to that, tire cornering stiffness represented by road adhesion coefficient can be used to built vehicle lateral dynamic model and participate in DYC robust controller design. Simulations under different driving cycles are carried out to demonstrate the feasibility and effectiveness of the proposed normalization method of road adhesion coefficient and tire cornering stiffness and vehicle DYC robust control system, respectively.