This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Optimal Yaw Rate Control for Over-Actuated Vehicles
Technical Paper
2020-01-1002
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
As we are heading towards autonomous vehicles, additional driver assistance systems are being added. The vehicle motion is automated step by step to ensure passengers’ safety and comfort, while still preserving vehicle performance. However, simultaneous activations of concurrent systems may conflict, and non-suitable behavior may emerge. Our research work consists in proving that with the right coordination approach, simultaneous operation of different systems improve the vehicle’s performance and avoid the emergence of unwanted conflicts. To prove this, we gathered different control architectures implemented in commercial passenger cars, and we compared them with our control architecture using a unified reference vehicle model. The high-fidelity vehicle model is developed in Simcenter Amesim in a modular and extensible manner. This enables adding systems in a plug-and-play way. Not only different control architectures can be tested on the same vehicle, but also different systems combinations can be evaluated. In this research, the vehicle can steer at the front and at the rear, and each wheel can be braked independently. Each of the actuators concerned can influence the vehicle’s yaw rate leading in some cases in system conflicts. More complex control strategies are then implemented in Matlab/Simulink, and co-simulations are carried between both softwares in order to provide realistic results. It has been shown that optimal control allocation algorithms are more suitable to coordinate systems in an over-actuated vehicle. Moreover, if the optimization objectives are well formalized, performance, safety and comfort can be improved since the vehicle can benefit from the systems’ synergies.
Authors
Topic
Citation
Kissai, M., Monsuez, B., Mouton, X., Martinez, D. et al., "Optimal Yaw Rate Control for Over-Actuated Vehicles," SAE Technical Paper 2020-01-1002, 2020, https://doi.org/10.4271/2020-01-1002.Also In
References
- Nadkarni , I.T. Apr. 2019
- Kissai , M. , Monsuez , B. , Martinez , M. , and Tapus , A. Optimal Coordination of Chassis Systems in Simultaneous Operations SAE Int. J. of Connected and Automated Vehicles August 2019
- Singh , A. , Kumar , A. , Chaudhary , R. , and Singh , R. Study of 4 Wheel Steering Systems to Reduce Turning Radius and Increase Stability International Conference of Advance Research and Innovation 2014
- Kissai , M. , Monsuez , B. , Tapus , A. , and Martinez , D. Control Allocation of Active Rear Steering and Vehicle Dynamics Control Using a New Tire Model Int. J. Mech. Eng. Robot. Res. 7 6 608 616 2018 10.18178/ijmerr.7.6.608-616
- Selby , M.A. 2003
- Kissai , M. , Monsuez , B. , and Tapus , A. Review of Integrated Vehicle Dynamics Control Architectures 2017 European Conference on Mobile Robots (ECMR) 2017 1 8 10.1109/ECMR.2017.8098687
- Besselink , I. , Veldhuizen , T. , and Nijmeijer , H. Improving Yaw Dynamics by Feedforward Rear Wheel Steering 2008 IEEE Intelligent Vehicles Symposium 2008 246 250 10.1109/IVS.2008.4621314
- Allwright , J. Four Wheel Steering (4WS) on a Formula Student Racing Car SAE-A Vehicle Technology Engineer - Journal 1 2015 10.7790/vte-j.v1i1.5
- Kissai , M. , Monsuez , B. , Tapus , A. , Mouton , X. et al. Gain-Scheduled H ∞ for Vehicle High-Level Motion Control Proceedings of the 6th International Conference on Control, Mechatronics and Automation 2018 97 104 101145/3284516.3284544
- Ivanov , V. and Savitski , D. Systematization of Integrated Motion Control of Ground Vehicles IEEE Access 3 2080 2099 2015 10.1109/ACCESS.2015.2496108
- Kissai , M. , Monsuez , B. , Mouton , X. , Martinez , D. et al. Adaptive Robust Vehicle Motion Control for Future Over-Actuated Vehicles Machines 7 2 26 2019 10.3390/machines7020026
- Kissai , M. , Mouton , X. , Monsuez , B. , Martinez , D. et al. Optimizing Vehicle Motion Control for Generating Multiple Sensations 2018 IEEE Intelligent Vehicles Symposium (IV) 2018 928 935 10.1109/IVS.2018.8500563
- Kissai , M. , Mouton , X. , Monsuez , B. , Martinez , D. et al. Complementary Chassis Systems for Ground Vehicles Safety 2018 IEEE Conference on Control Technology and Applications (CCTA) 2018 179 186 10.1109/CCTA.2018.8511622
- Bodson , M. Evaluation of Optimization Methods for Control Allocation Journal of Guidance, Control, and Dynamics 25 4 703 711 2002 10.2514/2.4937
- Pacejka , H.B. Tire and Vehicle Dynamics Warrendale, PA SAE International and Butterworth Heinemann 2012
- Soltani , A.M. 2014
- Sehyun , C. and Gordon , T.J. Model-Based Predictive Control of Vehicle Dynamics International Journal of Vehicle Autonomous Systems 5 1-2 3 27 2007 10.1504/IJVAS.2007.014945
- Milliken , W.F. and Milliken , D.L. Race Car Vehicle Dynamics Warrendale, PA SAE International 1995 9781560915263
- Vilela , D. and Barbosa , R. Analytical Models Correlation for Vehicle Dynamic Handling Properties Journal of the Brazilian Society of Mechanical Sciences and Engineering 33 437 444 2011 10.1590/S1678-58782011000400007
- Kissai , M. Optimal Coordination of Chassis Systems for Vehicle Motion Control ENSTA Paris 2019
- Scorletti , G. and Fromion , V. Automatique Fréquentielle Avancée Ecole Centrale de Lyon 2009
- Kissai , M. , Monsuez , B. , Tapus , A. , and Martinez , D. A New Linear Tire Model with Varying Parameters 2017 2nd IEEE International Conference on Intelligent Transportation Engineering (ICITE) Singapore 2017 108 115 10.1109/ICITE.2017.8056891
- Hanger , M.B. 2011
- Kissai , M. , Monsuez , B. , Mouton , X. , Martinez , D. et al. Model Predictive Control Allocation of Systems with Different Dynamics 2019 IEEE Intelligent Transportation Systems Conference (ITSC) 2019 4170 4177 10.1109/ITSC.2019.8917438