Advanced yaw control of four-wheeled vehicles via rear active differential braking

Corno, Matteo; Tanelli, Mara; Boniolo, Ivo; Savaresi, Sergio M.

doi:10.1109/cdc.2009.5399843

Cited by 12 publications

(7 citation statements)

References 10 publications

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“…• improve the braking torque distribution through different strategies such as in [6,8] • integrate semi-active suspensions in the control scheme to avoid dangerous rollover situations as preliminary studied in [34].…”

Section: Resultsmentioning

confidence: 99%

“…DYC exploits the interaction between longitudinal and lateral tire forces to influence the vehicle handling. On this topic, some relevant results can be found in the literature, i.e, Predictive control [1], Fuzzy control, Sliding mode control [7], Internal Model Control [6] and H ∞ control [30] and LPV [8,9] were investigated.…”

Section: Toward Integrated Control and Related Workmentioning

confidence: 99%

“…controller could be replaced by more advanced strategies including control allocation [43], or some other structure such as differential braking could be considered as proposed for instance in [8,9,6,7]. …”

Section: Remark 1 Notice That the Main Contribution Relies In The Synmentioning

confidence: 99%

See 2 more Smart Citations

Integrated vehicle dynamics control via coordination of active front steering and rear braking

Doumiati

Sename

Dugard

et al. 2013

European Journal of Control

190

102

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Section: Resultsmentioning

confidence: 99%

Section: Toward Integrated Control and Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Integrated vehicle dynamics control via coordination of active front steering and rear braking

Doumiati

Sename

Dugard

et al. 2013

European Journal of Control

190

102

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“…Linsheng Jin et al used the GIM tire model to propose a fuzzy logic controller based on the automotive electronic stability controller system to improve the stability of the vehicle at high speed on low-attached roads [8]. Matteo Corno et al used the Burkhartd tire model to solve the problem of active lateral dynamics control during braking of four-wheeled vehicles [9]. However, the accuracy of using the tire model to estimate the tire force is limited.…”

Section: Introductionmentioning

confidence: 99%

Development and Validation of Electronic Stability Control System Algorithm Based on Tire Force Observation

Yin

et al. 2020

Applied Sciences

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In view of the higher and higher assembly rate of the electronic stability control system (ESC in short), the control accuracy still needs to be improved. In order to make up for the insufficient accuracy of the tire model in the nonlinear area of the tire, in this paper, an algorithm for the electronic stability control system based on the control of tire force feedforward used in conjunction with tire force sensors is proposed. The algorithm takes into consideration the lateral stability of the tire under extreme conditions affected by the braking force. We use linear optimal control to determine the optimal yaw moment, and obtain the brake wheel cylinder pressure through an algorithm combining feedforward compensation based on measured tire force and feedback correction. The controller structure is divided into two layers, the upper layer is controlled by a linear quadratic regulator (LQR in short) and the lower layer is controlled by PID (Proportional-integral-derivative) and feedforward. After that, verification of the controller’s algorithms using software cosimulation and hardware-in-the-loop (HIL in short) testing in the double lane change (DLC in short) and sine with dwell (SWD in short) conditions. From the test results it can be concluded that the controller based on tire force observation has partially control advantages.

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“…The number of available actuators (control variables) is imposed by the mechanical layout. In brake-based studies (see, e.g., [1], [2], [3]) the vehicle behavior is controlled through torque distribution to the four wheels. Brake-based solutions imply a relatively simple mechanical layout, however the induced vehicle behavior presents a strong dependence on the longitudinal velocity.…”

Section: Introductionmentioning

confidence: 99%

Advantages of rear steer in LTI and LPV vehicle stability control

Selmanaj

Corno²,

Sename³

et al. 2013

52nd IEEE Conference on Decision and Control

Self Cite

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Abstract-In this paper, the advantages of the rear wheel steer in robust yaw stability control of four wheeled vehicles are shown. A MIMO vehicle dynamic stability controller (VDSC) involving front steer, rear steer and rear braking torques is synthesized. The comparison between a vehicle with and without rear steer is done on avoidance maneuver using both LTI and gain-scheduling LPV controller. Both robust H ∞ controllers are built by the solution of an LMI problem. To better evaluate the influence of the rear steer on the performance time domain indexes are introduced. The simulation results show that active rear steer enhances vehicle handling on a low friction surface.

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Advanced yaw control of four-wheeled vehicles via rear active differential braking

Cited by 12 publications

References 10 publications

Integrated vehicle dynamics control via coordination of active front steering and rear braking

Integrated vehicle dynamics control via coordination of active front steering and rear braking

Development and Validation of Electronic Stability Control System Algorithm Based on Tire Force Observation

Advantages of rear steer in LTI and LPV vehicle stability control

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