Integrated differential braking and electric power steering control for advanced lane-change assist systems

Park, Manbok; Lee, Sang‐Hyun; Kim, Myoungjune; Lee, Junyung; Yi, Kyongsu

doi:10.1177/0954407014547927

Cited by 23 publications

(18 citation statements)

References 15 publications

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“…In the mathematical theory of bifurcations, the Hopf bifurcation is a critical point where a system's stability switches and a periodic solution arises. More accurately, it is a local bifurcation in which a fixed point of a dynamical system loses stability, as a pair of complex conjugate eigenvalues (of the linearisation around the fixed point) cross the complex plane imaginary axis [53,54].…”

Section: Bifurcation Of Steady Steeringmentioning

confidence: 99%

“…According to [53], there is a pair of pure imaginary conjugate eigenvalues and the other eigenvalues have non-zero real part, thus, the corresponding equilibrium point is non-hyperbolic. In addition, it is clearly seen that the real part of the eigenvalues varies as the steering angle increases, and the transverse condition is satisfied as follows:…”

Section: Bifurcation Of Steady Steeringmentioning

confidence: 99%

“…By comparing three support system types, Itoh and Inagaki [51] discussed the driver assistance system design for avoiding collisions with vehicles at blind spots. Lee et al [52] and Park et al [53] designed and verified a control algorithm for advanced lane-change assist systems with integrated control by adopting differential braking and the electric power-steering system. Kang et al [54] and Wang et al [55] proposed a new idea for improving the lane-keeping/lane-changing performance for an autonomous lane-change system for highways, by applying a prediction method and multi-rate lane-keeping control scheme.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Bifurcation of lane change on highway for large bus

Peng

Guan

Zhang

et al. 2017

IET Intelligent Transport Systems

View full text Add to dashboard Cite

Section: Bifurcation Of Steady Steeringmentioning

confidence: 99%

Section: Bifurcation Of Steady Steeringmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Bifurcation of lane change on highway for large bus

Peng

Guan

Zhang

et al. 2017

IET Intelligent Transport Systems

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“…And the increased popularity of the high center of gravity (CG) vehicles such as sport utility vehicle (SUV) are subjected to more fatal accidents because of their intrinsic dynamics [3]. The main cause of the vehicle rollover is due to the vehicle manoeuvring at limit handling conditions [4]. The National Highway Traffic Safety Administration (NHTSA) estimates that about 88% collisions in the United States are caused by driver factor.…”

Section: Introductionmentioning

confidence: 99%

Research on Active Obstacle Avoidance Control Strategy for Intelligent Vehicle Based on Active Safety Collaborative Control

et al. 2020

IEEE Access

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Aiming at the issue of active obstacle avoidance control for intelligent vehicles under emergency, an active safety collaborative control system integrated with adaptive cruise control (ACC), rear steering control (RSC), and rollover braking control (RBC) is developed. The proposed novel control architecture consists of a supervisor, an upper controller, and a lower controller. The supervisor decides which control mode to be used based on multi-sensors information of the driving vehicle. Active rear wheel steering based on lateral acceleration feedback and active braking control strategies based on fuzzy PID are added into the control model to enhance driving stability. To make the vehicle motion control model suitable for highway path tracking with obstacle avoidance under emergency, a priority is given to the RBC controller even though the vehicle speed is lower than the expected speed when the rollover index exceeds the safety threshold. A nonlinear vehicle simulation model is established to validate the proposed control scheme based on Carsim. Finally, a Carsim-Simulink co-simulation model is constructed, and simulation results show that the proposed integrated control strategy based on active safety collaborative control has good performance in both path tracking and driving stability, and has better stability of rollover under emergency.

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“…Vehicle driving safety is mainly dependent on yaw and rollover stability. In the last decade, vehicle electronic stability control (ESC) has attracted wide interest in research and been widely applied on vehicle, especially on passenger car [1][2][3][4][5][6]. However, most of the ESC systems presently adopt active yaw moment control to achieve vehicle yaw stability and they work well only with the tire forces within the friction limit.…”

Section: Introductionmentioning

confidence: 99%

Integrated yaw and rollover stability control of an off-road vehicle with mechanical elastic wheel

Li¹,

Zhao²,

Lin³

et al. 2019

J. vibroeng.

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An integrated control algorithm of the differential braking and the active suspension to improve yaw and rollover stability of vehicles with mechanical elastic wheel (ME-Wheel) is developed. By simplifying the structure of ME-Wheel, a fitting tire model named brush model is constructed. Then, a nonlinear 8-DOF vehicle model with ME-Wheel is built up for rollover prevention, which utilizes a predictive load transfer ratio (PLTR) as the rollover index and a Kalman filter is used to eliminate the measurement noise. In order to design an integrated control algorithm, fuzzy proportional-integral-derivative (PID) methodology is adopted by simultaneous control of the yaw and roll motions. The proposed algorithm, based on the idea that makes yaw stability controller and roll stability controller work independently first, then unifies by way of weight according to fuzz control, after that, brake force distributor selects single efficient braking wheel to achieve yaw moment and one of the front braking wheels with varying brake pressure to achieve the desired brake torque and the wheel slip regulator is designed with sliding mode control technique to prevent the wheels from locking; and the active suspension system alters the stiffness of the active suspension to prevent rollover. Simulation results show that the integrated yaw and rollover stability control system could improve the handing stability of vehicle under the limit driving conditions, and prevent rollover happening.

show abstract

Integrated differential braking and electric power steering control for advanced lane-change assist systems

Cited by 23 publications

References 15 publications

Bifurcation of lane change on highway for large bus

Bifurcation of lane change on highway for large bus

Research on Active Obstacle Avoidance Control Strategy for Intelligent Vehicle Based on Active Safety Collaborative Control

Integrated yaw and rollover stability control of an off-road vehicle with mechanical elastic wheel

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