An investigation into unified chassis control for agility, maneuverability and lateral stability

Cho, Wanki; Heo, Hyundong; Yi, Kyongsu

doi:10.1109/itsc.2011.6082862

Cited by 10 publications

(14 citation statements)

References 14 publications

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“…Therefore, the equation (2) is applied to match the vehicle dynamic response and time constant τ d can be determined from real vehicle test (Cho et al, 2008).…”

Section: Reference Modelmentioning

confidence: 99%

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Active yaw control for handling performance improvement by using traction force

Kim

Lee

Hedrick

2015

Int.J Automot. Technol.

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This paper presents the vehicle handling performance improvement by means of transfer case and torque vectoring system. The focus is on the agility and stability during handling situation. Transfer case can control the torque distribution ratio between the front and rear axles. The left and right torque vectoring system of the rear axle is a device that can control both the torque flow amount and its direction between the right and left wheels. The controller for lateral dynamics was applied by using a sliding mode control method and a commercial dynamic analysis tool was used for the vehicle performance simulation.

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“…Therefore, the equation (2) is applied to match the vehicle dynamic response and time constant τ d can be determined from real vehicle test (Cho et al, 2008).…”

Section: Reference Modelmentioning

confidence: 99%

“…The agility control can be activated if a driver's input goes off the boundary of the agility that is defined as the diamond shape (Cho et al, 2012). Figure 6 shows that the situation where the activation of the agility control is not required resembles an ellipse shape, rather than a diamond shape.…”

Section: Reference Modelmentioning

confidence: 99%

Active yaw control for handling performance improvement by using traction force

Kim

Lee

Hedrick

2015

Int.J Automot. Technol.

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“…The yaw rate controller determines the yaw moment input to reduce the yaw rate error between the desired and the actual yaw rates. The desired yaw rate, c d , is determined using the remote driver's steering command and the firstorder transfer function as [4] c d~c…”

Section: Remote Control Manoeuvringmentioning

confidence: 99%

Skid Steering-Based Control of a Robotic Vehicle with Six in-Wheel Drives

Kang

Kim

Lee

et al. 2010

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper describes a driving control algorithm based on a skid steering for a robotic vehicle with articulated suspension (RVAS). The RVAS is a kind of unmanned ground vehicle based on a skid steering using an independent in-wheel drive at each wheel. The driving control algorithm consists of four parts: a speed controller for following a desired speed, a lateral motion controller that computes a yaw moment input to track a desired yaw rate or a desired trajectory according to the control mode, a longitudinal tyre force distribution algorithm that determines an optimal desired longitudinal tyre force, and a wheel torque controller that determines a wheel torque command at each wheel in order to keep the slip ratio at each wheel below a limit value as well as to track the desired tyre force. Longitudinal and vertical tyre force estimators are required for the optimal tyre force distribution and wheel slip control. A dynamic model of the RVAS for simulation study is developed and validated using the vehicle test data. Simulation and vehicle tests are conducted in order to evaluate the proposed driving controller. It is found from simulation and vehicle test results that the proposed driving controller provides a satisfactory motion control performance according to the control mode.

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“…The sensitivity results were then used to optimize the steering system parameters that will help vehicles with the integration of individual modular chassis control systems in order to provide key advantages for vehicle power such as AFS (Adaptive Front-Lighting System), 4WD (4-Wheel Drive), ECS (electronic control suspension system). It seems to be a more efficient method to provide crucial benefits for vehicle dynamics such as agility, maneuverability or additional stability improvement [8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Vehicle Cornering Performance Evaluation and Enhancement Based on CAE and Experimental Analyses

Huang

Tsai

2019

Applied Sciences

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Featured Application: Measurement and performance evaluation for vehicle.Abstract: A full-vehicle analysis model was constructed incorporating a SLA (Short Long Arm) strut front suspension system and a multi-link rear suspension system. CAE (Computer Aided Engineering) simulations were then performed to investigate the lateral acceleration, yaw rate, roll rate, and steering wheel angle of the vehicle during constant radius cornering tests. The validity of the simulation results was confirmed by comparing the computed value of the understeer coefficient (K us ) with the experimental value. The validated model was then used to investigate the steady-state cornering performance of the vehicle (i.e., the roll gradient and yaw rate gain) at various speeds. The transient response of the vehicle was then examined by means of simulated impulse steering tests. The simulation results were confirmed by comparing the calculated values of the phase lag, natural frequency, yaw rate gain rate, and damping ratio at various speeds with the experimental results. A final series of experiments was then performed to evaluate the relative effects of the cornering stiffness, initial toe-in angle, and initial camber angle on the steady-state and transient-state full-vehicle cornering handling performance. The results show that the handling performance can be improved by increasing the cornering stiffness and initial toe-in angle or reducing the initial camber angle.

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An investigation into unified chassis control for agility, maneuverability and lateral stability

Cited by 10 publications

References 14 publications

Active yaw control for handling performance improvement by using traction force

Active yaw control for handling performance improvement by using traction force

Skid Steering-Based Control of a Robotic Vehicle with Six in-Wheel Drives

Vehicle Cornering Performance Evaluation and Enhancement Based on CAE and Experimental Analyses

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