Driver assistant yaw stability control via integration of AFS and DYC

Ahmadian, Narjes; Khosravi, Alireza; Sarhadi, Pouria

doi:10.1080/00423114.2021.1879390

Cited by 36 publications

(20 citation statements)

References 26 publications

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“…The adaptive algorithm combined with the sliding mode controller aims to yield the control gain without knowing any information about parameter variation-induced uncertainties. 44 A saturation function is developed to replace the signum function to further attenuate the chattering problem inherited by the signum function in SMC. The lower-level controller intends to distribute the additional moment computed from the upper-level controller to each wheel and optimize the additional power consumption based on the model predictive control allocation (MPCA) technique.…”

Section: Direct Moment Controller Designmentioning

confidence: 99%

Model predictive control allocation based on adaptive sliding mode control strategy for enhancing the lateral stability of four-wheel-drive electric vehicles

Ao¹,

Wong²,

Huang

2023

Proceedings of the Institution of Mechanical Engineers, Part D:

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A novel hierarchical direct yaw moment controller is designed to enhance the lateral stability of the four-wheel-drive electric vehicle. The adaptive sliding mode control (ASMC) technique in the upper-layer controller is employed to compute an additional yaw moment. The lower-layer controller distributes this yaw moment into each independent wheel by utilizing model predictive control allocation (MPCA). The proposed MPCA aims to mitigate the performance deterioration induced by in-wheel motor dynamics and optimize the power consumption stemming from the additional yaw moment. Co-simulation and hardware-in-the-loop (HIL) test is conducted to verify the performance of the proposed controller. Validation results show that the proposed hierarchical ASMC-MPCA controller outperforms the sliding mode control MPCA (SMC-MPCA) and the integrated nonlinear model predictive control (NMPC) with the lowest root-mean-square errors [Formula: see text] of yaw rate, sideslip angle, lateral deviation, and lowest power consumption. Additionally, the chattering phenomenon in SMC-MPCA can be suppressed effectively by adaptively estimating the parameter uncertainties. The proposed ASMC-MPCA controller also consumes less computational resources than the NMPC and SMC-MPCA, which indicates that the ASMC-MPCA is more suitable for an automotive onboard controller. The comparison between hierarchical and integrated controller frameworks also shows that the hierarchical framework is more suitable for production vehicles under non-powerful vehicle control units.

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Section: Direct Moment Controller Designmentioning

confidence: 99%

Model predictive control allocation based on adaptive sliding mode control strategy for enhancing the lateral stability of four-wheel-drive electric vehicles

Ao¹,

Wong²,

Huang

2023

Proceedings of the Institution of Mechanical Engineers, Part D:

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show abstract

“…In reality, a disparity always exists between the actual vehicle dynamics and the mathematical model due to the model parameter's uncertainty, unmodeled dynamics, and external disturbances. Accounting for these model inaccuracies, (29) can be expressed as,…”

Section: B Direct Yaw-moment Controlmentioning

confidence: 99%

“…where x is the state vector as given in (6), and f is an unknown bounded function that represents model uncertainties and disturbances. Here, the uncertainties and disturbances are assumed as additive perturbations to the system [29], [30]. Defining a Lyapunov function for the above system as,…”

Section: B Direct Yaw-moment Controlmentioning

confidence: 99%

Direct Yaw-Moment Control Integrated With Wheel Slip Regulation for Heavy Commercial Road Vehicles

et al. 2022

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When a road vehicle is subjected to combined cornering and emergency braking, it potentially has a greater risk of wheel lock followed by loss of steerability and/or undesired yaw motion. While an Antilock Braking System (ABS) is mandatory in many countries to avoid wheel lock, more attention is required to its combined cornering and braking performance. This paper aims to design a Direct Yaw-Moment Controller (DYC) integrated with ABS to achieve vehicle directional stability for Heavy Commercial Road Vehicles (HCRVs). This study implements a robust reaching law-based sliding mode controller for DYC and ABS. The developed algorithm was evaluated in a Hardware-in-Loop (HiL) setup. The experimental results are compared for the integrated algorithm and standalone ABS algorithms. The proposed algorithm improved the Directional Performance Index (DPI) in the range of 29% to 84% over the open-loop behavior while maintaining vehicle stability. Moreover, it also improved the DPI in the range of 5% to 53% over standalone ABS in various emergency test cases.INDEX TERMS Anti-lock braking system, differential braking, direct yaw-moment control, electronic stability control, pneumatic brakes, sliding mode control This article has been accepted for publication in IEEE Access.

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“…A significant number of studies have been conducted on the DYC of electric vehicles at home and abroad [4][5][6][7][8]. Direct yaw moment control will generate additional yaw moment.…”

Section: Introductionmentioning

confidence: 99%

Yaw Stability Research of the Distributed Drive Electric Bus by Adaptive Fuzzy Sliding Mode Control

et al. 2022

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The direct yaw moment control can effectively enhance the yaw stability of the vehicle under extreme conditions, which has become one of the essential technologies for the distributed driving electric bus. Due to the features of a large mass and high center of gravity of the bus, lateral instability is more likely to occur under extreme driving conditions. To reduce the uncertainty and interference in the yaw movement process of the bus, this paper targets the instability caused by the coupling problem between the sideslip angle and yaw rate. An adaptive fuzzy sliding mode control is proposed to execute direct yaw moment control. The weight coefficient of the sideslip angle and the yaw rate is adjusted via fuzzy control in real time. The optimal direct yaw moment is finally obtained. A distribution method based on the vertical load proportion is adopted for the allocation of four motors’ torque. Under three typical working conditions, a joint simulation test was carried out. The simulation results demonstrate that the raised method decreases the amplitude of the sideslip angle by 20.90%, 12.75%, and 23.67% and the yaw rate is 8.62%, 6.89%, and 9.28%, respectively. The chattering and sudden changes in the additional yaw moment are also lessened. The control strategy can realize the control target, which effectively strengthens the yaw stability of the bus.

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Driver assistant yaw stability control via integration of AFS and DYC

Cited by 36 publications

References 26 publications

Model predictive control allocation based on adaptive sliding mode control strategy for enhancing the lateral stability of four-wheel-drive electric vehicles

Model predictive control allocation based on adaptive sliding mode control strategy for enhancing the lateral stability of four-wheel-drive electric vehicles

Direct Yaw-Moment Control Integrated With Wheel Slip Regulation for Heavy Commercial Road Vehicles

Yaw Stability Research of the Distributed Drive Electric Bus by Adaptive Fuzzy Sliding Mode Control

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