A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Abstract

Differential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both differential braking and active steering. This research proposes an integrated control system that can simultaneously invoke differential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.A) l i−1 − l v > 0, B bli ≥ 0, A bli < 0, δ i > 0 B) l i−1 − l v > 0, B bli > 0, A bli < 0, δ i = 0 C) l i−1 − l v = 0, δ i = 0 a4 B bri = 0, A bri = 0 (Cannot use this wheel to brake) B bli = 0, A bli = 0 (Cannot use this wheel to brake)

Vertical Tire Forces Estimation of Multi-Axle Trucks Based on an Adaptive Treble Extend Kalman Filter

“…To observe wheel forces, the model of a four-axle truck in Ref. [26] was improved in this research. This model divides the truck into three parts, where each part can be regarded as an isolated system, and two virtual forces are used to describe the connection between the parts.…”

“…(3)-( 5) can be obtained from Ref. [26]. Here, l s1 is the distance between the first separation point and the first axle.…”

“…Different from the models in Ref. [26], in these equations, m 1 , m 2 , and m 3 representing the uneven loading masses on each part are from Table 1.…”

Sliding mode control for overturning prevention and hardware-in-loop experiment of heavy-duty vehicles based on dynamical load transfer ratio prediction

“…Zhao et al 32 design an integrated rollover control system based on active steering and differential braking by using H∞ controller. Zhang et al 33 proposed an integrated control system specially designed for multi-axle vehicles (Differential braking and active steering). Hassan et al 34 investigated the effects of tyre characteristics on vehicular rollover and lateral stability.…”

Vehicle Lateral Motion State Estimation Based on Adaptive Cubature Kalman Filter

“…However, due to expensive equipment, mass production models will not be equipped with sensors for body sideslip angle. Therefore the currently adopted measures are utilizing some estimation methods to get body sideslip angle [1][2][3][4][5].…”