RUNNING HEAD: Electronic Stability Control (ESC) Should be Installed in All

Automobiles to Reduce Fatal Crashes

ELECTRONIC STABILITY CONTROL (ESC) SHOULD BE INSTALLED IN ALL

AUTOMOBILES TO REDUCE FATAL CRASHES
MOHAMAD FARUQ BIN MOHD RADZUAN
1223993
ENGINEERING
HAZLINAH BINTI AB. RAHMAN
SECTION 2
INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA
3rd DECEMBER 2015

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

Electronic Stability Control (ESC) should be installed in all

automobiles to reduce fatal crashes.
Fatal crashes in Malaysia are increasing every year. Crashes can be
caused by the drivers negligence, lack of driving skill, road condition, cars
failure and others. Some of the causes can be overcome by the active
system controlled by the computer. In the last decades, automobile
manufacturers have been developed various control systems to increase
active safety of automobiles in order to reduce traffic accidents because of
high speed driving and road conditions. These systems function by
controlling the yaw rate and side slip angle of the vehicle and preventing
the loss of control by the driver. One of them is Electronic Stability Control
(ESC) which was first introduced by Robert Bosch GmbH in 1995. Back in
1997, ESC was introduced only for luxury vehicles. Then, automotive
manufacturers have done researches and developments and used a variety
of different name such as Active Stability Control (ASC) for Mitsubishi,
Vehicles Dynamic Control (VDC) for Nissan, Subaru, and Alfa Romeo and
Vehicle Stability Assist (VSA) for Honda. ESC has been proven to be very
promising based on statistics issued in 2004 by National Highway Traffic
Safety Administration (NHTSA) of U.S Department of Transportation stated
that 30 % reduction of fatal single vehicles crashes in passenger car and
63 % for SUV. This data is taken from 1997 to 2003. In some countries, ESC
has become a mandatory for every automobile on road. The European
Union has obliged for all new passenger cars and commercial vehicles to
be installed with ESC starting from 2014. These statistics indicate how
reliable this system to cope with human errors.

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

Dang (2004) explained that in ESC system, the speed of each wheel,
the steering wheel angle, the overall yaw rate and lateral acceleration of
the vehicle are monitored by sensors which the data used to compare
drivers intended course with the vehicles actual movement. Lateral
acceleration can simply defined by the maximum cornering ability of a car
while yaw rate is the rate of turning at an axis. The system will detect
when the driver lose control of a vehicle and intercede the control in split
seconds by applying differential brakes on each wheel based on required
wheel speed and reducing engine torque which will add more stability.
This paper aims to emphasize that ESC should be installed in all
automobiles to reduce fatal crashes as this system is able to assists drivers
by modifying steering commands, distributes torque to each wheel
independently to provide active control of traction and yaw moment, and
applies active differential braking by utilize Anti-Lock Braking System (ABS)
between right and left side of wheels to control yaw moment.
ESC Assists Drivers Handling when Skidding
Firstly, According to Kazemi and Janbakshs (2011), the greatest
benefit of Steer by Wire (SBW) is its active steering capability, that is, the
ability to change the drivers steering input to improve maneuverability or
stability (p. 345). This shows ESC can reduce fatal crashes by assisting
drivers using the system called Steer by Wire system (SBW) which is one of
the systems in ESC. Steer-by-wire system (SBW) is a new power steering
system appeared after the Electrical Power Steering System (EPS), which
gets away from the structural constraints of mechanical coupling, and has
good riding & handling, safety, energy saving and environment protection

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

(Ying & Yiming, 2011, p. 540). (SBW) system also gives an automobile
some advantages such as decreasing noises, reducing weight and
vibration, and removing environmentally hazardous hydraulics fluids. All of
these benefits are gained from the removal of conventional parts such like
steering column, gearbox and hydraulics pumps. The remotion of steering
column also decreases the risk of the driver being crushed. Moreover, the
absence of physical contact and mechanical connection between steering
wheel and the front wheels will definitely make frontal crash impact less
likely to encroach drivers seat.
In order to alter the handling, SBW system receives two inputs to
determine the front wheels steering angle during operation. The first input
is from the driver itself which rotating the steering wheels during the
incident which depends on the drivers skills to avoid skidding. The second
input is from the steer by wire controller that is more accurate and can
react faster. However, in the SBW system the controller can decide
whether to change, modifies, or stick with the drivers steering input
depending on the situation. However, Yih (2005) notes, Steer-by-wire
introduces the possibility that one can indeed have the best of both worlds:
improved driving safety and handling performance (p. 5). This indicates
that SBW system will not abruptly intervene your handling but smoothly
integrates to your steering adjustment during sudden evasive manoeuvres
but does not limiting your performance driving.
Rajamani stated, In automobiles steering, the drivers primary job is
path following. In path following the driver keeps the car considered as
a single point mass m on his desired path (as cited in Ackerman, 1997).

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

However, it is not easy as the driver also have the secondary job resulting
from the yaw moment or disturbance attenuation. Disturbance
attenuation is the disturbance torque which will stimulate the yaw rate
other than driver desired lateral acceleration. Nevertheless, the yaw rate
stimulated by the lateral acceleration is often expected by the driver. SBW
system is designed to tackle the problem like flat tire, asymmetric friction
coefficient of wheels that generate the disturbance torque. Thus, the
system will manage the unexpected yaw rate while the driver
concentrating on his primary job.
Besides, SBW system development is based on three principals of
technology. The variable steering ratio control, road-feeling motor control
and front wheel steering angle control. These principals used by the
engineers to develop a safer steering system. At present, two control
methods that are frequently used in this system are control based on
velocity and control based on steering wheel angle.
In brief, the SBW system is very effective and practical in easing the
steering work of the driver in sudden evasive moment while keeping the
continuous driving feel and does not limiting the vehicles performance.
This systems design also reduces the mechanical parts which benefit the
vehicles efficiency, stability and cost. Thus, SBW definitely is a cost
effective system that should be installed in all automobiles.
ESC Distributes Right Amount of Torque Needed to Each Wheel
Secondly, ESC should be installed in all automobiles to reduce fatal
crashes because it distributes the right amount of torque needed to each
wheels. Rajamani (2006) explains, Active Torque Distribution is a systems

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

which utilize active differentials and all wheels drive technology to

independently control the drive torque distributed to each wheel and thus
provide active control of both traction and yaw moment(p.223). In order
to turn the vehicle, the open differential system only allows the drive axel
of the wheels to spin at different speed. Nevertheless, it also distributes
the same amount of torque to both wheels which is bad when or one wheel
is on slippery surface or comes off-road. That wheel will receive small
amount of torque. However, the other wheel also received small amount of
torque which is not ideal considering that it is not on a slippery surface.
Then, an open differential is improved to a locking differential that
allows the driver to control the switch to lock right and left wheels together
and receive total torque. An automatic version of locking differential is
limited slip differential (LSD). Rajamani (2006) also stated that LSD unlock
the wheels during turning and when the difference in wheel speed id too
big the clutch automatically lock the wheel to get enough traction. The
advance system in ESC, Active Torque Distribution system operates almost
as similar as the open differential and LSD. Active torque distribution
system works by controlling the torque distribution of each wheel
differently using an active differential so the driver gains active control of
traction and yaw movement. Therefore, the vehicle stability and handling
can be improved at the limit where the wheels still stick to the road
surface. Besides that, this system also assists the driver to bring the
vehicles as close as possible to the desired path and minimize the lateral
movement act on the tires.

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

To understand more about full torque distribution, imagine a cars

rear wheels are on ice, on rollers or raise in the air. The tires spin without
resistance act on the tires from the road surface making the torque is close
to zero. The sensors detect the rear wheels speed is unusual and locking it.
100% of the torque from the engine will be transferred to the front wheels.
The torque distribution will varies depend on the data from sensors. One of
the variations in active torque distribution is the ultimate all-wheel drive
system. Rajamani (2006) again revealed that all-wheel drive system can
control the torque transferred to each four wheels independently. Twin
clutch torque biasing differentials have recently been developed in the
automotive industry in which torque can be transferred to the inner or
outer wheels in a variety of different ratios as required by an active control
system. Thus, both yaw stability control and traction are dramatically
improved. A good yaw stability can avoid the car to spin off and move
away from desired direction resulting a fatal car crashes. Yaw stability
gained from active differentials also has zero deceleration because it free
from differential brake activation.
Concisely, an active torque distribution system contained in ESC is
confirmed can assists driver to drive in any surface of road without any
traction loss. Yaw movement of steering also is improved besides the
function of SBW that is the primary system in maintaining yaw stability.
ESC Applies Differential Braking to Correct Over Steer and Under
Steer
Finally, ESC should be installed in all automobiles to reduce fatal
crashes because this system applies differential braking to correct over

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

steer and under steer. Differential braking system is a system that utilizes
the Anti-lock Braking System (ABS) to apply different amount of brake on
the left and right wheels in order to control yaw moment of the vehicle.
Rajamani (2006) explains, Creating differential braking by increasing the
brake pressure at the left wheels compared to the right wheels, a counterclockwise yaw moment is generated (p.224). When the wheel slowing
down, the other side of wheel will try to maintain the speed and keep
moving forward. However, the connection of both wheels by drive axle
prevents it and steer the vehicle.
Over steer is when the tail of the car is sliding sideways and
cornering more sharply. It can cause the car to spin. It happens when the
rear tires operating at greater slip angle than front tire. While under steer
is when the vehicle does not turn enough during the cornering, pushed the
car away and get off the road. When loss of traction at front wheels
happen, the wheels is steered but the vehicle still pushed wide by the rear
wheels. Under steer and over steer happen on various factors like weight
distribution, drive layout, suspension and chassis setup and type and wear
of tire. While the active factors are like cornering speed, throttle, braking
amount, steering inputs, and weight transfer within the car. In this system,
certain speed is applied on different wheels to correct these problems.
SBW and active torque distribution system gain data from sensors.
Likewise, the differential braking system also operates with sensors. The
sensors involved are four wheels speed sensors, a yaw rate sensor, a
steering angle sensor, a lateral accelerometer, and brake pressure sensor.
According to Rajamani (2006), the signals from these sensors are sent to

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

upper controller to compute the desired yaw torque. The main purpose of
upper controller is to assure yaw stability control and any required torque
value deduced can be commanded. Then, the signals sent to the lower
controller in which has the function to confirm that the torque value sent is
from the differential braking system and controlling the braking pressure
applied to each wheels. Hence, the desired yaw torque is produced to
stabilize the car and avoid crashes and skids.
Besides the yaw rate, and torque, the desired side slip angle also
very crucial in differential braking system. Unlike the yaw angle, the side
slip angle is controlled by the rear wheels steering angle. Lazic (2002)
noted that, wheel steering (front and rear axle) is used for control, with
yaw rate and side slip angle as outputs from the car, and front and rear
wheel steering angles as the input to the car (p. 2). Side slip angle is the
angle differences between the tire original direction and the modified
direction caused by the transversal force during cornering. Larger side slip
angle causes more over steer. However, at present side slip angle cannot
be measured. The Electronic Controller Unit (ECU) only estimates the angle
and command the system based on value estimated in order to overcome
the unwanted amount of over steering.
In essence, it is clear by manipulating the yaw and side slip angle of
a vehicle over steer and under steer can be controlled, corrected and
stabilized the vehicle when skidding. As a result, the risk of crashes is
reduced.
In conclusion, ESC should be installed in all automobiles as it
assisting drivers handling when skidding with SBW system, distributes the

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

10

desired amount of torque on each wheels, and applies differential braking

pressure on each wheels to correct over steer and under steer during
cornering. Statistically, ESC does reduce fatal crashes but the active
factors that contribute to crashes come from the drivers.
All drivers need to follow the traffic rules as it is sinful to ignore
traffic law because in Islam, following the laws of the ruler or government
is compulsory. The Holy Quran says in Surah An Nisaa : O ye who believe!
Obey Allah, and obey the Messenger, and those charged with authority
among you. If ye differ in anything among yourselves, refer it to Allah and
His Messenger, if ye do believe in Allah and the Last Day: That is best, and
most suitable for final determination (4:59).

References
AlQuran,SurahAnNisaa:59.

Kazemi,R.,&Janbakhsh,A.A.(2010).NonlinearAdaptiveSlidingModeControlforVehicle
HandlingImprovementviaSteerByWire.InternationalJournalofAutomotive
Technology.11(3).345.

Lazic,N.(2002).OptimalVehicleDynamicsYawRateandSideSlipAngleControlUsing
4WheelSteering(Mastersthesis,LundInstituteofTechnology,Lund,Sweden).
Retrievedfromhttp://www.control.lth.se/documents/2002/5697.pdf

Electronic Stability Control (ESC) Should Be Installed In All Automobiles To

Reduce Fatal Crashes

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Rajamani,R.(2006).ElectronicStabilityControl.VehiclesDynamicsandControl.(pp.222
249).NewYork,NY.SpringerScience+BusinessMedia,Inc.

U.SDepartmentofTransportation.(2004).PreliminaryResultsAnalyzingtheEffectivenessof
ElectronicStabilityControl(ESC)Systems.Washington,DC:Dang,J.N.

Yih,P.(2005).SteerbyWire:ImplicationsforVehicleHandlingandSafety(Doctoral
dissertation,StanfordUniversity).Retrievedfromhttp://www
cdr.stanford.edu/dynamic/bywire/dissertation.pdf

Ying,F.,&Yiming,G.(2011).StudyofIdealSteeringRatioforSteerbyWireSystemBased
onSimulationTest.InYanwen,W(Ed.),HighPerformanceNetworking,Computing,
andCommunicationSystems(p.540).Singapore;SpringerBerlinHeidelberg.