Design of an unified chassis controller for rollover prevention, manoeuvrability and lateral stability

Yoon, Jung-Ki; Yim, Seongjin; Cho, Wanki; Koo, Bongyeong; Yi, Kyongsu

doi:10.1080/00423110903536403

Cited by 39 publications

(33 citation statements)

References 11 publications

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“…In that regard, this paper builds a controller that does not involve any online optimization process, and thus is suitable for realtime applications. The developed controller also takes into account the passengers comfort, in contrast to many papers such as [11,44,45] that does not consider this issue.…”

Section: Toward Integrated Control and Related Workmentioning

confidence: 99%

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: Toward Integrated Control and Related Workmentioning

confidence: 99%

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

View full text Add to dashboard Cite

“…[7,14] As discussed previously, the control authority can be switched from the yaw to the roll controller when the rollover threat is high. Advantages of this approach are the modular structure of the control architecture and the optimised design of both controllers for the respective application.…”

Section: Introductionmentioning

confidence: 98%

“…Control systems have been successfully designed to mitigate rollover by using brakes, [5][6][7] steering, [8,9] anti-roll bars, [10,11] or a combination of different actuators. [12][13][14] The majority of approaches quantifies the rollover threat by an appropriate index and switches the control authority to a roll stabilising controller when indicated. To mitigate rollover without affecting the yaw rate, Rajamani and Piyabongkarn [15] propose to counter-steer the vehicle into the negative roll angle equilibrium during cornering.…”

Section: Introductionmentioning

confidence: 99%

Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation

Alberding

Tjønnås

Johansen³

2014

Vehicle System Dynamics

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This work presents an approach to rollover prevention that takes advantage of the modular structure and optimisation properties of the control allocation paradigm. It eliminates the need for a stabilising roll controller by introducing rollover prevention as a constraint on the control allocation problem. The major advantage of this approach is the control authority margin that remains with a high-level controller even during interventions for rollover prevention. In this work, the high-level control is assigned to a yaw stabilising controller. It could be replaced by any other controller. The constraint for rollover prevention could be replaced by or extended to different control objectives. This work uses differential braking for actuation. The use of additional or different actuators is possible. The developed control algorithm is computationally efficient and suitable for low-cost automotive electronic control units. The predictive design of the rollover prevention constraint does not require any sensor equipment in addition to the yaw controller. The method is validated using an industrial multi-body vehicle simulation environment.

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“…J. Yoon et al and S. Lu et al designed different control strategies based on driving condition partition [12,13]. S. Fergani et al developed a method to enhance tire grip by controlling vertical tire forces, braking forces and steering angle.…”

Section: Introductionmentioning

confidence: 98%

Coordinated control of longitudinal/lateral/vertical tire forces for distributed electric vehicles

Luo

Cao

2014

2014 American Control Conference

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In this paper, a novel coordinated control method of longitudinal/lateral/vertical tire forces is proposed which overcomes the shortcomings of current studies on global chassis control for electric vehicles. An objective function combining the tire workload and the dynamic ratio of vertical forces is developed, 15 equality and inequality constraints including desired driving demands, tire friction limitations and actuator characteristics are considered, and a non-convex optimization problem with multiple constraints for coordinated control of longitudinal/lateral/vertical tire forces is formulated. An optimization algorithm combining constrained optimization and feasible region planning is proposed to solve this key problem. Finally, simulations based on Matlab/Simulink and CarSim are conducted, demonstrating that the proposed coordinated control method controls vehicle attitude effectively and improves handling stability simultaneously, while providing better stability and robustness over other methods.

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Design of an unified chassis controller for rollover prevention, manoeuvrability and lateral stability

Cited by 39 publications

References 11 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

Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation

Coordinated control of longitudinal/lateral/vertical tire forces for distributed electric vehicles

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