Applied and Computational Mechanics 2 (2008) 255–264 Vehicle Lateral Dynamics Stabilization Using Active Suspension V. Drobn´ y a,∗ , M. Val´ aˇ sek b a T ¨ UV S ¨ UD Auto CZ s.r.o., Novodvorsk´ a 994/138, 142 21 Praha 4, Czech Republic b Department of Mechanics, Biomechanics and Mechatronics, CTU in Prague, Karlovo n´ am. 13, 121 35 Praha 2, Czech Republic Received 1 September 2008 ; received in revised form 12 October 2008 Abstract The paper deals with the investigation of active nonlinear suspension control in order to stabilize the lateral vehicle motion in similar way as systems like ESP do. The lateral stabilization of vehicle based on braking forces can be alternatively provided by the different setting of suspension forces. The basis of this control is the nonlinear property of the tyres. The vehicle has at least four wheels and it gives one or more redundant vertical forces that can be used for the different distribution of vertical suspension forces in such a way that resulting lateral and/or longitudinal forces create the required correction moment for lateral dynamic vehicle stabilization. c  2008 University of West Bohemia in Pilsen. All rights reserved. Keywords: vehicle lateral dynamics, controlled systems, active safety 1. Introduction Current vehicles are equipped with many electronic control devices assisting driver in daily and emergency situations. The devices are partially connected to each other by networks. The communication between earlier stand-alone devices will bring added value not only in opera- tional comfort of the vehicles, but particularly in active and passive safety. Among the others, synergetic effects between vehicle controllable suspensions and lateral dynamic vehicle system stability are expected [5, 6]. In other words the lateral stabilization of vehicle, that uses the brak- ing forces in ESP system, can be alternatively provided by the different setting of suspension forces. The vehicle has at least four wheels and it gives one or more redundant vertical forces in order to comply with balance of gravity and vertical force. This freedom can be used for the different distribution of vertical suspension forces in such a way that resulting lateral and/or longitudinal forces create the required correction moment for lateral dynamic vehicle stabiliza- tion. This has been already studied by semi-active [1] suspension control and proposed for fully- active [6] suspension control. The novelty of this study is the investigation of such lateral dynamic vehicle stabilization using fully active and limited-active suspension control and the investigation of the energy requirements of such control for different manoeuvres and/or emer- gency situations. * Corresponding author. Tel.: +420 239 046 977, e-mail: vladislav.drobny@tuv-sud.cz. 255