A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

Zhang, Lipeng; Jia, Gang; Chen, Jie; Zhu, Hongjun; Cao, Dongpu; Song, Jian

doi:10.1080/00423114.2015.1025082

Cited by 106 publications

(65 citation statements)

References 15 publications

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“…Note that the proposed reference yaw rate in (9) does not consider the real road friction limitation [27], which is directly generated based on the path following dynamics (2) only from a kinematics perspective. However, since this paper does not consider the extreme manoeuvres (e.g., making a sharp turning), the reference yaw rate will not be very large and can remain in the road friction limitation, provided that the regulating parameters k 1 and k 2 in (9) are appropriately chosen.…”

Section: Path Following Controller Designmentioning

confidence: 99%

Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles

Wang

Yan

et al. 2016

IEEE Trans. Intell. Transport. Syst.

162

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This paper investigates the path-following control problem for four-wheel independently actuated autonomous ground vehicles through integrated control of active front-wheel steering and direct yaw-moment control. A modified composite nonlinear feedback strategy is proposed to improve the transient performance and eliminate the steady-state errors in path-following control considering the tire force saturations, in the presence of the time-varying road curvature for the desired path. Path following is achieved through vehicle lateral and yaw control, i.e., the lateral velocity and yaw rate are simultaneously controlled to track their respective desired values, where the desired yaw rate is generated according to the path-following demand. CarSim-Simulink joint simulation results indicate that the proposed controller can effectively improve the transient response performance, inhibit the overshoots, and eliminate the steady-state errors in path following within the tire force saturation limits.

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Section: Path Following Controller Designmentioning

confidence: 99%

Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles

Wang

Yan

et al. 2016

IEEE Trans. Intell. Transport. Syst.

162

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show abstract

“…We can calculate the desired slip ratio, which is smaller than the optimum slip ratio λ opt based on the tire forces from the upper layer. The desired slip ratio λ des can be obtained by the dichotomy method in [40]. The desired pressure P des can be calculated as follows [41]:…”

Section: The Lower Layermentioning

confidence: 99%

A Human-Machine-Cooperative-Driving Controller Based on AFS and DYC for Vehicle Dynamic Stability

Cheng

Liu

et al. 2017

Energies

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It is a difficult and important project to coordinate active front steering (AFS) and direct yaw moment control (DYC), which has great potential to improve vehicle dynamic stability. Moreover, the balance between driver's operation and advanced technologies' intervention is a critical problem. This paper proposes a human-machine-cooperative-driving controller (HMCDC) with a hierarchical structure for vehicle dynamic stability and it consists of a supervisor, an upper coordination layer, and two lower layers (AFS and DYC). The range of AFS additional angle is constrained, with consideration of the influence of AFS on drivers' feeling. First, in the supervisor, a nonlinear vehicle model was utilized to predict vehicle states, and the reference yaw rate, and side slip angle values were calculated. Then, the upper coordination layer decides the control object and control mode. At last, DYC and AFS calculate brake pressures and the range of active steering angle, respectively. The proposed HMCDC is evaluated by co-simulation of CarSim and MATLAB. Results show that the proposed controller could improve vehicle dynamic stability effectively for the premise of ensuring the driver's intention.

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“…The vehicle stability control enables the vehicle to have good handling stability and active safety, which is an efficient way to reduce vehicle accidents [1,2]. In the stability control algorithm, sideslip angle and yaw rate are important indexes to represent vehicle stability and are the main control variables [3].…”

Section: Introductionmentioning

confidence: 99%

Estimation of Vehicle Sideslip Angle Based on Feedback Observer

Li¹,

Guo²,

Zheng³

et al. 2018

Proceedings of the 2017 2nd International Conference on Electrical, Control and Automation Engineering (ECAE 2017)

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Abstract-Vehicle sideslip angle is a significant parameter for vehicle stability control. Based on the 2-DOF vehicle dynamic model, a feedback observer is built with the correction item. The estimation accuracy of the sideslip angle is improved by adjusting the feedback gain of the feedback term in the feedback observer. At the same time, the computational burden is reduced by using the three-map of tire lateral force based on the magic formula (MF) model. The simulation results show that the feedback gain plays an important role in improving accuracy of sideslip angle estimation. The estimation method can be applied to the vehicle stability control system.

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A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

Cited by 106 publications

References 15 publications

Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles

Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles

A Human-Machine-Cooperative-Driving Controller Based on AFS and DYC for Vehicle Dynamic Stability

Estimation of Vehicle Sideslip Angle Based on Feedback Observer

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