Abstract：To improve the lateral stability of electronically controlled hybrid power steering system(ECHBPS) commercial vehicle, the lateral stability control strategy was proposed based on extension active disturbance rejection control (ADRC). The vehicle model and the ECHBPS model were established, and the torque compensation strategy was formulated with the ideal yaw angular velocity as target. According to the deviation of yaw velocity, the control domain was divided into classical domain, extension domain and nondomain, and ADRC, extension correction control and limit compensation control were respectively used to design the extension ADRC torque compensation controller. The control strategy was simulated under sine condition and control strategy condition. The results show that compared with the uncontrolled and traditional ADRC control methods, the lateral deflection angle and lateral velocity of vehicle under the ADRC control are closer to the ideal value, and the lateral stability of vehicle is significantly improved.
