A Yaw Rate Based Stability Control for Under-Actuated Vehicles

Gimondi, Alex; Corno, Matteo; Savaresi, Sergio M.

doi:10.1109/itsc45102.2020.9294719

Cited by 3 publications

(2 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The error is multiplied by the coefficient K p while its integral is multiplied by the coefficient K i as in Eq. (7), where e indicates the error. Both contributions are then summed to obtain the overall required direct yaw moment M z , whose role is to adjust the vehicle cornering behaviour according to the selected reference.…”

Section: B High-level Controller and Low-level Controllermentioning

confidence: 99%

See 1 more Smart Citation

Real-time implementation of yaw rate and sideslip control through individual wheel torques

Tristano

Lenzo

et al. 2022

2022 IEEE Vehicle Power and Propulsion Conference (VPPC)

View full text Add to dashboard Cite

Improving vehicle passenger safety is of major importance in modern automotive industry. Within this framework, vehicle stability controllers play a key role, as they actively contribute to maintain vehicle driveability even in potentially dangerous situations. An example of such a controller is Electronic Stability Control (ESC), that brakes individual wheels to generate a direct yaw moment to stabilize the vehicle (e.g. from excessive understeer or oversteer). This paper presents the realtime implementation of a stability controller based on measured (and/or estimated) yaw rate and sideslip angle and on phase-plane related stability criteria. The control strategy is first developed in MATLAB-Simulink environment with a simplified vehicle model. Then, the controller is assessed via software-in-the-loop using a full vehicle model developed in Simcenter Amesim, before implementing it on a real-time platform. Results are promising, endorsing the implementation of hardware-in-the-loop using an Electronic Control Unit.

show abstract

Section: B High-level Controller and Low-level Controllermentioning

confidence: 99%

“…In [6], a stability control algorithm operates on an electric vehicle equipped with four in-wheel motors, allowing torque vectoring. A vehicle with two motors (one per axle) is used by Gimondi in [7].…”

Section: Introductionmentioning

confidence: 99%

Real-time implementation of yaw rate and sideslip control through individual wheel torques

Tristano

Lenzo

et al. 2022

2022 IEEE Vehicle Power and Propulsion Conference (VPPC)

View full text Add to dashboard Cite

show abstract

A Yaw Rate Based Stability Control Tuning via Virtual Methods

D’Avico,

Carbone,

Baudry

et al. 2024

Lecture Notes in Mechanical Engineering

View full text Add to dashboard Cite

Electronic Stability Control (ESC) allows to prevent safety-critical scenarios and vehicle sideslip angle estimation plays a crucial role in such applications. Time to market and safety concerns in the development and validation of such algorithms are leading the automotive industry towards virtual methods. The recent introduction of driving simulator technologies on vehicle development process allows to develop calibrate and test in advance virtual prototypes of full vehicle and its controls obtaining objective and subjective evaluation during the early stage of the vehicle development. This paper presents the methodology and results related to the development and calibration of a yaw rate based stability control grounded on a mixed-kinematic sideslip estimator. This work has been carried out leveraging tools provided by simulation platforms, scalable configurations of driving simulators and results from road tests.

show abstract