Integrated vehicle control

This paper presents a vehicle stability control method based on a multi-input multi-output (MIMO) model reference adaptive control (MRAC) strategy as an advanced driver assistance system (ADAS) to enhance the handling and yaw stability of the vehicle lateral dynamics. The corrective yaw moment and additive steering angle are generated using direct yaw moment control (DYC) and active front steering (AFS) at the upper control level in the hierarchical control algorithm. A nonlinear term is added to the conventional adaptive control laws to handle parametric uncertainties and disturbances. The desired yaw moment generated by the upper-level controller is converted to the brake forces and is distributed to the rear wheels by an optimal procedure at the lower-level. The major contribution of this study is the introduction of a nonlinear integrated adaptive control method based on a constraint optimization algorithm. To verify the effectiveness of the proposed control strategy, the nonlinear integrated adaptive controller, and linear time-varying MRAC are designed and used for comparison. Simulation results are performed for the J-turn and double lane change (DLC) manoeuvres at high speeds and low tyre-road friction coefficients. The desired performance of the proposed controller exhibited significant improvement compared to the conventional MRAC in terms of yaw rate tracking and handling of sideslip limitation.

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“…This method was proposed around 1990 to coordinate different chassis control systems in the presence of conflict and functional interference. 8…”

Section: Introductionmentioning

confidence: 99%

“…This method was proposed around 1990 to coordinate different chassis control systems in the presence of conflict and functional interference. 8 Active control systems are used for longitudinal and lateral dynamics control problems. The AFS can modify the driver's steering by calculating the extra steering angle.…”

Section: Introductionmentioning

confidence: 99%

Managing driving disturbances in lateral vehicle dynamics via adaptive integrated chassis control

Ahmadian

Khosravi

Sarhadi

2020

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…Most of the research of this topic lays in the case of multipurpose integration (i.e., multiple DoF). An integration of steering and braking to enhance horizontal dynamics using robust control is proposed in [12]; however, the coordination algorithm and controller synthesis are not clear. In [13] the authors proposed a controller based on inversemodel dynamics to generate the desired control commands for braking and steering subsystems; the method is highly dependent in an accurate model of the system and sensitive to modeled dynamics.…”

Section: Introductionmentioning

confidence: 99%

Global Chassis Control System Using Suspension, Steering, and Braking Subsystems

Vivas-Lopez

Tudón-Martínez

Hernández-Alcantara

2015

Mathematical Problems in Engineering

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A novelGlobal Chassis Control(GCC) system based on a multilayer architecture with three levels: top: decision layer, middle: control layer, and bottom: system layer is presented. The main contribution of this work is the development of a data-based classification and coordination algorithm, into a single control problem. Based on a clustering technique, the decision layer classifies the current driving condition. Afterwards, heuristic rules are used to coordinate the performance of the considered vehicle subsystems (suspension, steering, and braking) using local controllers hosted in the control layer. The control allocation system uses fuzzy logic controllers. The performance of the proposed GCC system was evaluated under different standard tests. Simulation results illustrate the effectiveness of the proposed system compared to an uncontrolled vehicle and a vehicle with a noncoordinated control. The proposed system decreases by 14% the braking distance in the hard braking test with respect to the uncontrolled vehicle, the roll and yaw movements are reduced by 10% and 12%, respectively, in the Double Line Change test, and the oscillations caused by load transfer are reduced by 7% in a cornering situation.

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“…In particular, Fruechte and co-authors have introduced in [1] the results of General Motors project Trilby, also presented by researchers from Hitachi [2] (coordination of engine, drivetrain, brakes, steering, and suspension operation), and Toyota and Aisin Seiki [3] (integration of active suspension and four-wheel steering).…”

Section: Introductionmentioning

confidence: 99%

Systematization of Integrated Motion Control of Ground Vehicles

Ivanov

Savitski²

2015

IEEE Access

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This paper gives an extended analysis of automotive control systems as components of the integrated motion control (IMC). The cooperation of various chassis and powertrain systems is discussed from a viewpoint of improvement of vehicle performance in relation to longitudinal, lateral, and vertical motion dynamics. The classification of IMC systems is proposed. Particular attention is placed on the architecture and methods of subsystems integration.

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Integrated vehicle control

Cited by 18 publications

References 2 publications

Managing driving disturbances in lateral vehicle dynamics via adaptive integrated chassis control

Managing driving disturbances in lateral vehicle dynamics via adaptive integrated chassis control

Global Chassis Control System Using Suspension, Steering, and Braking Subsystems

Systematization of Integrated Motion Control of Ground Vehicles

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