Controller design for improving lateral vehicle dynamic stability

Park, Kihong; Heo, Seung-Jin; Baek, Inho

doi:10.1016/s0389-4304(01)00141-2

Cited by 32 publications

(10 citation statements)

References 3 publications

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“…Many computer simulations done and much information referenced in [9], [10], and [11], the fuzzy controller is designed. The control inputs of fuzzy controller in [12] are as follows: the error and the error rate between actual vehicle body side slip angles and the desired value, the error and the error rate between actual vehicle yaw rate and the desired values, i.e.…”

Section: B Fuzzy Feedback Controllermentioning

confidence: 99%

A Fuzzy Control Method to Improve Vehicle Yaw Stability Based on Integrated Yaw Moment Control and Active Front Steering

Song

Hou

et al. 2007

2007 International Conference on Mechatronics and Automation

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In this paper, a fuzzy control method is proposed to improve vehicle yaw stability by integrated yaw moment control and active front steering. This control system is designed by actively controlling the front steering angle and the distribution of braking forces, using feed-forward regulation and feedback revision control strategy, and a fuzzy controller is designed to suppress the output error of yaw rate and side slip angle, which can keep the vehicle to follow the desired trajectories. A simulation based on this control method is performed with a vehicle at two different running conditions, and the simulation results by other different control methods are compared also. The results showed that the presented method can effectively control the yaw rate and side slip angle synchronously, the transient and steady response of vehicle is good, the vehicle yaw stability is improved.Index Terms -Vehicle, Yaw moment, Active front steering, Yaw Stability, Fuzzy control ʳ ĉ. INTRODUCTIONThe handling and stability of vehicle is an important performance, which influencing the safety of the vehicle at high speed. The vehicle yaw stability control system is a complex non-linear problem, which is influenced by such as vehicle's initial running state, road adhesion coefficients, and front wheel steering angle and at el in [1]. At present, there are many kinds of control strategy for improving vehicle yaw stability, for example, the logic threshold control, PID control, sliding-mode theory, and fuzzy control. However, vehicle yaw stability counts a large number of uncertain nonlinear characteristics; it is very difficult to derive a relative simple controller based on traditional methods for such a complex system. The fuzzy system has the potential to concertedly incorporate different concepts of yaw control referred above in a relative simple manner. Direct yaw moment control (DYC) is regarded as one of promising chassis technologies, has been studied by controlling brakes independently and adjusting yaw moment on vehicles directly in [2] and [3]. But DYC decreases steady-state value of yaw rate at a high speed and adds the burden of the driver in cornering in [4], and the active front steering (AFS) can counterbalance this trend in [5]. So DYC combined with AFS control can further improve vehicle handling and stability in [6].A fuzzy control method is proposed to improve vehicle yaw stability by the integrated yaw moment control and AFS.This control system is designed to take the steering angle and vehicle's speed as input variable, yaw rate and side slip angle as the feedback input variable, using feed-forward regulation and fuzzy feedback correction control strategy. Computer simulations are performed with cornering maneuver and double lane change maneuver separately at the high speed, and the results showed that, the presented method can effectively controls side slip angle and yaw rate of vehicle simultaneously and achieves multi-objective control of side slip angle and yaw rate of vehicle, and the vehicle yaw stability I...

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Section: B Fuzzy Feedback Controllermentioning

confidence: 99%

A Fuzzy Control Method to Improve Vehicle Yaw Stability Based on Integrated Yaw Moment Control and Active Front Steering

Song

Hou

et al. 2007

2007 International Conference on Mechatronics and Automation

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“…Many control methods have been suggested for the design of the upper controller. The simplest controllers were those based on a linearized model, with control methods that include mostly linear quadratic regulator (LQR) [5][6][7][8][9] and H ∞ control [10]. More advanced approach used for dealing with the nonlinearities, inherent in the vehicle dynamics, is the sliding mode control (SMC), either by using linearized model and treat nonlinearities as model uncertainty, as done in [11][12][13], or by incorporating the nonlinear model directly in the design [14,15].…”

Section: Introductionmentioning

confidence: 99%

Yaw stability control for a rear double-driven electric vehicle using LPV-H∞ methods

Weiss

Allerhand²,

Arogeti

2018

Sci. China Inf. Sci.

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This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A linear parameter varying (LPV) model of the vehicle is formulated using longitudinal speed measurement and tire cornering stiffness estimation. The LPV model is then utilized to design a gain-scheduled H∞ controller with guaranteed stability. Results from simulations, performed with CarSim, show that the new controller improves the vehicle performance and handling even in extreme maneuvers and that it is robust to model parameter uncertainties.

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“…Vehicle stability control has always played a vital role in ensuring vehicle safety and improving driving performance, and thus has been the focus of intensive research, resulting in a rich literature. In order to improve vehicle safety performance especially under emergency conditions, a stability 2 of 18 control system (SCS) is always employed to generate an additional yaw moment by imposing uneven brake forces on wheels in traditional automobiles [2][3][4]. However, the involvement of unintended braking forces may deteriorate drivers' comfort while slowing down vehicle speed.…”

Section: Introductionmentioning

confidence: 99%

Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle

Wang

Zhang

et al. 2017

Energies

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In this paper, an optimal control strategy for a four-wheel-independently-actuated electric vehicle (FWIA EV) is proposed to improve vehicle dynamics stability and handling performance. The proposed scheme has a hierarchical structure composed of an upper and a lower controller. The desired longitudinal and lateral forces and yaw moment are determined based on the sliding-mode control (SMC) scheme in the upper controller, which takes the longitudinal and lateral velocity and the yaw rate as control variables. In the lower controller, an optimization algorithm is adopted to allocate the driving/braking torques to each in-wheel motor. A cost function with adjustable weight coefficients is specially designed by taking the motor power capability and the tire workload into consideration. The simulation and hardware-in-loop experimental results show that the proposed control strategy exhibits superior performance in comparison to commonly-used rule-based control strategies, and has the capability of online implementation.

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Controller design for improving lateral vehicle dynamic stability

Cited by 32 publications

References 3 publications

A Fuzzy Control Method to Improve Vehicle Yaw Stability Based on Integrated Yaw Moment Control and Active Front Steering

A Fuzzy Control Method to Improve Vehicle Yaw Stability Based on Integrated Yaw Moment Control and Active Front Steering

Yaw stability control for a rear double-driven electric vehicle using LPV-H∞ methods

Vehicle Stability Enhancement through Hierarchical Control for a Four-Wheel-Independently-Actuated Electric Vehicle

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