Design and Assessment of a Speed-Based Integrated Active Vehicle Controller for Lateral Stability

Abstract

An integrated active vehicle control system implementing fuzzy-logic control (FLC) is introduced. The system integrates three commercially-available active vehicle control systems, namely, Active Front Steering (AFS), Electronic Stability Control (ESC) and Torque Vectoring System (TVS) aiming at enhancing vehicle handling and cornering stability and rollover prevention. Two different vehicle models were constructed to simulate the dynamic behavior of the system with and without the proposed integration controller, namely, a 14-DOF vehicle dynamic model with nonlinear tire characteristics and a 2DOF bicycle reference model. Last model was utilized to generate controller's reference values of vehicle's yaw rate and body side slip angle at a given forward speed and driver's steering input. Simulation was carried out in the MATLAB/SIMULINK software environment. System effectiveness was investigated applying five different standard cornering test maneuvers at different vehicle forward speeds of 10, 20 and 30m/s. Simulated test maneuvers are: step, Jturn, single lane change (SLC), sine with dwell, (SWD) and fishhook. Results reveal that, for stability enhancement, AFS is most effective at low vehicle speeds with declining efficacy as speed goes up. Both ESC and TVS have been found to be equally effective at moderate to high speeds. However, due to the intrusive nature of ESC, TVS is considered to be the favored stability control mechanism. In conclusion, an integrated chassis control (ICC) strategy has been proposed that improves vehicle handling and cornering performance across the entire operating range of speed using 1073