Studies on improving vehicle handling and lane keeping performance of closed-loop driver–vehicle system with integrated chassis control

Wu, Jian; Wang, Qingping; Wei, Xue; Tang, Houjun

doi:10.1016/j.matcom.2010.04.028

Cited by 36 publications

(22 citation statements)

References 12 publications

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“…The nonlinear vehicle model is regularly used to represent and simulate the actual vehicle for controller evaluation and validation. In recent years, researches in [1][2][3][4][5] have utilized nonlinear vehicle model for vehicle handling and stability improvement studies. Figure 3 shows the typical nonlinear vehicle model in cornering manoeuvre.…”

Section: Vehicle Model For Simulationmentioning

confidence: 99%

A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

Aripin

Sam

Danapalasingam

et al. 2014

International Journal of Vehicular Technology

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Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

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Section: Vehicle Model For Simulationmentioning

confidence: 99%

A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

Aripin

Sam

Danapalasingam

et al. 2014

International Journal of Vehicular Technology

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“…The majority of existing control methodologies for 4WS4WD vehicles are proposed based on the linearized dynamic model, which lead to the loss of input degree of freedom [2,3]. Meanwhile, some other methods use nonlinear dynamic models in the control of 4WS4WD vehicles [4,5], where control inputs are subjected to some relationship constraints to simplify the controller design. However, in practice, the four independent wheels may interact with different terrain conditions, where different slip, wheel forces and terrain disturbances are generated on the corresponding contact patches.…”

Section: Introductionmentioning

confidence: 99%

MPC and PSO Based Control Methodology for Path Tracking of 4WS4WD Vehicles

et al. 2018

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Four wheel steering and four wheel drive (4WS4WD) vehicles are over-actuated systems with superior performance. Considering the control problem caused by the system nonlinearity and over-actuated characteristics of the 4WS4WD vehicle, this paper presents two methods to enable a 4WS4WD vehicle to accurately follow a predefined path as well as its reference trajectories including velocity and acceleration profiles. The methodologies are based on model predictive control (MPC) and particle swarm optimization (PSO), respectively. The MPC method generates the virtual inputs in the upper controller and then allocates the actual inputs in the lower controller using sequential quadratic programming (SQP), whereas the PSO method is proposed as a fully optimization based method for comparison. Both methods achieve optimization of the steering angles and wheel forces for each of four independent wheels simultaneously in real time. Simulation results achieved by two different controllers in following the reference path with varying disturbances are presented. Discussion about two methodologies is provided based on their theoretical analysis and simulation results.

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“…WU et al [11] developed a robust chassis controller to improve vehicle handling performance and lane keep ability by utilizing H ∞ controller. MASHADI et al [10,12] proposed an optimal LQR and PID controllers for vehicle path following based on intelligent optimization method.…”

Section: Introductionmentioning

confidence: 99%

Design of an optimal active stabilizer mechanism for enhancing vehicle rolling resistance

Pourasad

Mahmoodi-k

Oveisi

2016

J. Cent. South Univ.

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Improving rollover and stability of the vehicles is the indispensable part of automotive research to prevent vehicle rollover and crashes. The main objective of this work is to develop active control mechanism based on fuzzy logic controller (FLC) and linear quadratic regulator (LQR) for improving vehicle path following, roll and handling performances simultaneously. 3-DOF vehicle model including yaw rate, lateral velocity (lateral dynamic) and roll angle (roll dynamic) were developed. The controller produces optimal moment to increase stability and roll margin of vehicle by receiving the steering angle as an input and vehicle variables as a feedback signal. The effectiveness of proposed controller and vehicle model were evaluated during fishhook and single lane-change maneuvers. Simulation results demonstrate that in both cases (FLC and LQR controllers) by reducing roll angle, lateral acceleration and side slip angles remain under 0.6g and 4° during maneuver, which ensures vehicle stability and handling properties. Finally, the sensitivity and robustness analysis of developed controller for varying longitudinal speeds were investigated.

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Studies on improving vehicle handling and lane keeping performance of closed-loop driver–vehicle system with integrated chassis control

Cited by 36 publications

References 12 publications

A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

MPC and PSO Based Control Methodology for Path Tracking of 4WS4WD Vehicles

Design of an optimal active stabilizer mechanism for enhancing vehicle rolling resistance

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