A novel integrated control framework of AFS, ASS, and DYC based on ideal roll angle to improve vehicle stability

Xiao, Feng; Hu, Jianjun; Jia, Meixia; Zhu, Pengxing; Deng, Chenghao

doi:10.1016/j.aei.2022.101764

Cited by 13 publications

(4 citation statements)

References 41 publications

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“…Alternatively, in [ 8 ], an active anti-roll bar was utilised instead of active suspension. Currently, controllable suspension has become widespread and may be installed in production vehicles starting from the C-segment, which has led to novel research in the field [ 4 , 59 ].…”

Section: Previous Studiesmentioning

confidence: 99%

“…The sub-systems that can be included in the ICC are brakes, electric motors, active suspension variants [ 2 , 3 ], and active steering [ 4 , 5 ]. In some studies, less widespread components such as active aerodynamics [ 2 ], wheel positioning systems [ 6 , 7 ], anti-roll bars [ 8 ], and dynamic tyre pressure control [ 9 ] are also considered within the ICC context.…”

Section: Introductionmentioning

confidence: 99%

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Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

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Integrated chassis control systems represent a significant advancement in the dynamics of ground vehicles, aimed at enhancing overall performance, comfort, handling, and stability. As vehicles transition from internal combustion to electric platforms, integrated chassis control systems have evolved to meet the demands of electrification and automation. This paper analyses the overall control structure of automated vehicles with integrated chassis control systems. Integration of longitudinal, lateral, and vertical systems presents complexities due to the overlapping control regions of various subsystems. The presented methodology includes a comprehensive examination of state-of-the-art technologies, focusing on algorithms to manage control actions and prevent interference between subsystems. The results underscore the importance of control allocation to exploit the additional degrees of freedom offered by over-actuated systems. This paper systematically overviews the various control methods applied in integrated chassis control and path tracking. This includes a detailed examination of perception and decision-making, parameter estimation techniques, reference generation strategies, and the hierarchy of controllers, encompassing high-level, middle-level, and low-level control components. By offering this systematic overview, this paper aims to facilitate a deeper understanding of the diverse control methods employed in automated driving with integrated chassis control, providing insights into their applications, strengths, and limitations.

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Section: Previous Studiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Review of Integrated Chassis Control Techniques for Automated Ground Vehicles

Skrickij,

Kojis,

Šabanovič

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…The error of the designed controller will have a finite time to converge to 0 along the sliding mold surface (10).…”

Section: Dyc Controller Designmentioning

confidence: 99%

“…However, AFS is constrained by physical conditions, and DYC can affect the vehicle's travel speed. Therefore, the study of integrated control of AFS and DYC is particularly important [ [8], [9], [10]]. In the field of vehicle stability control, various control algorithms have been applied, such as the fuzzy PID controller designed based on phase plane analysis, which can follow the desired state [ [11]].…”

Section: Introductionmentioning

confidence: 99%

Vehicle Stability Control for External Disturbance Inputs and Fault-Tolerant via Finite-time Terminal Sliding Mode

Li,

Gao,

et al. 2024

Preprint

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Vehicle stability control, as an important part of active safety technology, has a critical impact on improving the overall safety of vehicles. The purpose of this paper is to discuss an integrated DYC (Direct Yaw Moment Control) and AFS (Active Front Steering) system. A fault-tolerant disturbance adaptive nonsingular fast terminal sliding mode control (FDASMC) is proposed with the aim of solving the problem of maintaining the stability of the system and improving the tracking performance of the system in a finite period of time with external perturbations and actuator failures. Firstly a nonlinear disturbance observer (NDOB) based on the dynamics model of four-wheel independently-actuated electric vehicle(4WIDEV) is constructed with the aim of reducing the negative effects of system uncertainty and external disturbances on the controller accuracy. Secondly to improve the convergence performance of the traditional sliding mode control, this paper introduces a nonlinear function into the sliding mode switching function to ensure that the system accurately tracks the desired state in finite time. In addition, a non-singular fast terminal sliding mode controller is further designed to prevent singular phenomena, and a dynamic gain observer is designed on this to cope with the system instability due to actuator failure. Finally, through theoretical analysis and simulation verification, this paper demonstrates that the proposed integrated control system is not only able to achieve accurate tracking of the desired state within a limited time, but also has excellent tracking accuracy, which significantly improves the vehicle's maneuvering stability.

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