This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Integrated Chassis Control for Vehicle Stability under Various Road Friction Conditions
Technical Paper
2018-01-0552
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper presents an integrated chassis control method for vehicle stability under various road friction conditions without information on tire-road friction. For vehicle stability, vehicle with an integrated chassis control needs to cope with the various road friction conditions. One of the chassis control method under various road conditions is to determine and/or limit control inputs based on tire-road friction coefficient. The tire-road friction coefficient, however, is difficult to estimate and still a challenging task. The key idea for the proposed method without the estimation of the tire-road friction coefficient is to analyze and control vehicle states based on a tire slip angle - tire force phase plane, i.e. based on these vehicle responses: tire forces and tire slip angles of front/rear wheels. Based on the phase plane, vehicle instability is detected and the vehicle is controlled to regain the vehicle stability and maneuverability under various road conditions without tire-road friction information. The proposed algorithm consists of two sequential parts: Supervisor part and Chassis control part. The supervisor detects the vehicle instability based on the tire slip angle and tire force phase plane. Based on this information, the supervisor determines a desired slip angle to make the vehicle stable. The chassis control part decides control inputs. From tire slip angle dynamics, a desired yaw moment is calculated to minimize error between the desired slip angle and current vehicle states. For tracking the desired yaw moment, the optimal coordination of the chassis control part optimally allocate the desired yaw moment to each chassis module. The proposed algorithm has been investigated through computer simulations under various road setting. The simulation results show that the proposed control method well copes with maneuver on the various road conditions.
Recommended Content
Authors
Citation
Joa, E., Yi, K., Bae, H., and Sohn, K., "Integrated Chassis Control for Vehicle Stability under Various Road Friction Conditions," SAE Technical Paper 2018-01-0552, 2018, https://doi.org/10.4271/2018-01-0552.Also In
References
- Lutz , A. et al. Vehicle System Dynamics 1 66 2017
- Heißing , B. and Ersoy , M. Chassis Handbook: Fundamentals, Driving Dynamics, Components, Mechatronics, Perspectives Springer Science & Business Media 2010
- Uematsu , K. and Christian Gerdes , J. A Comparison of Several Sliding Surfaces for Stability Control Proceedings of the AVEC 2002
- Chung , T. and Yi , K. Design and Evaluation of Side Slip Angle-Based Vehicle Stability Control Scheme on a Virtual Test Track IEEE Transactions on Control Systems Technology 14 2 224 234 2006
- Russell , H.E.B. and Christian Gerdes , J. Design of Variable Vehicle Handling Characteristics Using Four-Wheel Steer-by-Wire IEEE Transactions on Control Systems Technology 24 5 1529 1540 2016
- Hong , S. et al. Tyre-Road Friction Coefficient Estimation Based on tyre Sensors and Lateral Tyre Deflection: Modelling, Simulations and Experiments Vehicle System Dynamics 51 5 627 647 2013
- Ahn , C. , Peng , H. , and Eric Tseng , H. Robust Estimation of Road Friction Coefficient Using Lateral and Longitudinal Vehicle Dynamics Vehicle System Dynamics 50 6 961 985 2012
- Albinsson , A. , Bruzelius , F. , and Hjort , M. Required Friction Utilization for Friction Estimation on Wet Asphalt, an Experimental Study 25th International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD) 2017
- Bakker , E. , Pacejka , H.B. , and Lidner , L. A New Tire Model with an Application in Vehicle Dynamics Studies SAE Technical Paper 890087 1989 10.4271/890087
- Talvala , K.L.R. , Kritayakirana , K. , and Christian Gerdes , J. Pushing the Limits: From Lanekeeping to Autonomous Racing Annual Reviews in Control 35 1 137 148 2011
- Joa , E. , Yi , K. , and Kim , K. Development of Integrated Chassis Control for Limit Handling SAE Technical Paper 2016-01-1638 2016 https://doi.org/10.4271/2016-01-1638
- Mokhiamar , O. and Abe , M. How the four Wheels Should Share Forces in an Optimum Cooperative Chassis Control Control Engineering Practice 14 3 295 304 2006
- Song , P. , Tomizuka , M. , and Zong , C. A Novel Integrated Chassis Controller for Full Drive-by-Wire Vehicles Vehicle System Dynamics 53 2 215 236 2015
- Luo , Y. , Cao , K. , and Li , K. Coordinated Control of Longitudinal/Lateral/Vertical Tire Forces for Distributed Electric Vehicles American Control Conference (ACC), 2014 2014
- Park , H. and Christian Gerdes , J. Optimal Tire Force Allocation for Trajectory Tracking with an over-Actuated Vehicle Intelligent Vehicles Symposium (IV), 2015 IEEE 2015
- Her , H. et al. Integrated Chassis Control for Optimized tyre Force Coordination to Enhance the Limit Handling Performance Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 230 8 1011 1026 2016
- Li , B. et al. An Optimal Torque Distribution Control Strategy for four-Independent Wheel Drive Electric Vehicles Vehicle System Dynamics 53 8 1172 1189 2015
- Harkegard , O. Efficient Active Set Algorithms for Solving Constrained Least Squares Problems in Aircraft Control Allocation Decision and Control, 2002, Proceedings of the 41st IEEE Conference on 2 2002
- Abe , M. Vehicle Handling Dynamics: Theory and Application Butterworth-Heinemann 2015
- Milliken , W.F. and Milliken , D.L. Race Car Vehicle Dynamics 400 Warrendale Society of Automotive Engineers 1995
- Muller , S. , Uchanski , M. , and Hedrick , K. Estimation of the Maximum Tire-Road Friction Coefficient Journal of Dynamic Systems, Measurement, and Control 125 4 607 617 2003
- Oh , J. and Choi , S.B. Vehicle Velocity Observer Design Using 6-D IMU and Multiple-Observer Approach IEEE Transactions on Intelligent Transportation Systems 13 4 1865 1879 2012
- Joa , E. and Yi , K. Estimation of the Tire Slip Angle Using an Interacting Multiple Bicycle Models Approach for Vehicle Stability Control Control Practice Engineering