Vehicle Handling Improvement by Active Steering

Abstract

SUMMARYThis paper ®rst analyses some stability aspects of vehicle lateral motion, then a coprime factors and linear fractional transformations (LFT) based feedforward and feedback H I control for vehicle handling improvement is presented. The control synthesis procedure uses a linear vehicle model which includes the yaw motion and disturbance input with speed and road adhesion variations. The synthesis procedure allows the separate processing of the driver reference signal and robust stabilization problem or disturbance rejection. The control action is applied as an additional steering angle, by combination of the driver input and feedback of the yaw rate. The synthesized controller is tested for different speeds and road conditions on a nonlinear model in both disturbance rejection and driver imposed yaw reference tracking maneuvers.

Piecewise affine control for fast unmanned ground vehicles

“…The adhesion between the tires and the surface was allowed to vary randomly within the interval µ ∈ [0.7, 1] throughout the simulation. This condition is incorporated in the parameters of (2) by changing B κ to (2 − µ)B κ , C κ to (5 − µ)C κ /4 and D κ to µD κ , as detailed in [16].…”

“…Concerning the dynamics in R 1 , there is no need to impose conditions (16) to the whole state space, since they must be valid only in R 1 . These conditions may be relaxed by the use of S-Procedure [13], due to the quadratic form of the ellipsoidal description for the operating regions (12), as follows:…”

H ∞ Controller Synthesis and Analysis with Application to Lateral Driving Assistance

“…Moreover, some parameters are subject to uncertainties (adhesion, driver features) (Mammar, 2001), (Mammar and Koenig, 2002) and others vary such as longitudinal velocity. Thus the controller must ensure the robust stabilization of the closed loop system under these parameter and dynamic variations.…”

“…The study led in this paper presents an intermediary solution which consists in adding a supplementary torque using a motorized direction system to that of the driver, in situations of lane keeping or lane departure avoidance and ensuring the driving comfort criteria. (Ackermann et al, 1999),(J.-C. Hsu and Yeh, 1998), (Mammar and Koenig, 2002). This work is developed in the field of a large french project named ARCoS (Action on safe driving) which aims at improving road safety using active correcting device.…”

Brake Control Combined With Prediction to Prevent the Rollover of Heavy Vehicles

“…Several schemes concerned with the possible active intervention into vehicle dynamics have been proposed. These approaches employ active antiroll bars, active steering, active braking, active suspensions, or a combination of them, see (Ackermann and Odenthal, 1999;Chen and Peng, 2001;Kim and Park, 2004;Lin et al, 1996;Mammar and Koenig, 2002;Palkovics et al, 1999;Sampson and Cebon, 2003). A combined control structure, in which active anti-roll bars are combined with an active brake control, has also been developed in order to guarantee a fault-tolerant behavior of the controlled system, see (Gaspar et al, 2004;Gaspar et al, 2005).…”