Robust power-slide control for a production vehicle

Abstract

This paper describes a power-slide control strategy for rear-wheel driven sports cars capable of tracking a course angle reference signal while stabilising large sliding angles of the vehicle. Owing to small slip angles at the front wheels compared to the ones at the sliding rear wheels and the precise yaw rate measurement, a fairly simple control strategy can be proposed. It assigns the course angle tracking to the electric power steering. The remaining yaw motion is regulated by a first-order sliding-mode throttle controller, so that the vehicle drifts steadily at a given slip angle. The main advantage of the proposed algorithm is that mainly geometric vehicle parameters and only the measurements of the standard stock sensors are required. The performance is demonstrated on a drive-by-wire capable series production car.

A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

“…Towards this end, the state space representation of the linearized vehicle dynamics was examined around equilibria corresponding to different kinds of operating conditions. Linearizing the following set of Equation (8) and explicating the sideslip angle β:…”

“…Werling [8] presented a power-slide control strategy for rear-wheel-driven sports cars capable of tracking a course angle reference signal while stabilizing large vehicle sliding angles. Owing to small slip angles at the front wheels compared to the ones at the sliding rear wheels and the precise yaw rate measurement, a fairly simple control strategy can be proposed.…”

“…The fixed points could be found by imposing Figure 7 reports the phase portraits of the passive (left figure) and active (right figure) vehicles obtained with the model in (8). The active vehicle had the control law described in the following paragraphs, which anticipate the results in the phase plot.…”

Toward Automated Vehicle Control Beyond the Stability Limits: Drifting Along a General Path

“…Because the typical set of inputs-steering, drive torque, and brakes-renders the problem underactuated, adding on the objective of tracking a desired path is not straightforward. Recently, several works have experimentally demonstrated some form of this combined task for simple, constant-curvature circles: the approach by Werling et al [4] tracked sideslip and vehicle course, while that by Goh and Gerdes [5] tracked sideslip and a specified path. However, due to restrictive assumptions in vehicle modeling or controller formulation, these approaches cannot be easily extended to more complex trajectories.…”

“…Two-state single-track models were used early on by Ono et al [6] and Voser et al [7] to discuss the unstable dynamics of drifting. Hindiyeh et al [3] and Goh and Gerdes [5] both used three-state single-track models with forces as direct inputs to formulate their controllers, while Werling et al [4] explicitly included steering and throttle delay. And in Ref.…”