Advanced motion control of electric vehicle based on lateral force observer with active steering

Fujimoto, Hiroshi; Yamauchi, Yuya

doi:10.1109/isie.2010.5637450

Cited by 19 publications

(12 citation statements)

References 8 publications

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“…The estimation steps between two consecutive updates of course angle are named "inter-samples". Based on the relation between course angle, yaw angle and sideslip angle, the output measurement equation is expressed as (17). The observation matrix is switched between two cases as in (18): if course angle is updated and during inter-samples.…”

Section: Multi-rate Output Measurementsmentioning

confidence: 99%

“…Therefore, there is a "trade-off" between sideslip angle control and yaw rate control. In [11,16], and [17], active front steering is integrated with direct yaw moment control by different schemes. In [11], decoupling control method is utilized such that sideslip angle is controlled by front steering angle and yaw rate is controlled by yaw moment.…”

Section: Upper Control Layer Designmentioning

confidence: 99%

“…It means the decoupling terms are designed in the upper control layer. As discussed in [16] and [17], the decoupling control is not robust enough under the variation of cornering stiffness. In case of big cornering stiffness error, i.e., 30% of the true value, the state responses will have a terrible oscillation about the desired values.…”

Section: Upper Control Layer Designmentioning

confidence: 99%

“…In case of big cornering stiffness error, i.e., 30% of the true value, the state responses will have a terrible oscillation about the desired values. Based on disturbance observer theory, in [16] and [17], a new decoupling control scheme is proposed with high robustness under model error. This scheme is a combination of yaw moment observer and lateral force observer that can compensate the lumped disturbances and nominalize the system as follows:…”

Section: Upper Control Layer Designmentioning

confidence: 99%

“…However, the problem of sideslip angle estimation was not solved in [16][17]. In this paper, we aim to propose a control scheme that can achieve two goals simultaneously: robust estimation of sideslip angle and robust lateral stability control.…”

Section: Upper Control Layer Designmentioning

confidence: 99%

See 4 more Smart Citations

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

Nguyen¹,

Fujimoto²,

Hori³

2013

Journal of Electrical Engineering and Technology

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-This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

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Section: Multi-rate Output Measurementsmentioning

confidence: 99%

Section: Upper Control Layer Designmentioning

confidence: 99%

Section: Upper Control Layer Designmentioning

confidence: 99%

Section: Upper Control Layer Designmentioning

confidence: 99%

Section: Upper Control Layer Designmentioning

confidence: 99%

See 3 more Smart Citations

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

Nguyen¹,

Fujimoto²,

Hori³

2013

Journal of Electrical Engineering and Technology

Self Cite

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Design of lateral dynamic control objectives for multi-wheeled distributed drive electric vehicles

Liao,

Cai,

Yang

et al. 2024

Engineering Science and Technology, an International Journal

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Systematization of Integrated Motion Control of Ground Vehicles

Ivanov

Savitski²

2015

IEEE Access

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This paper gives an extended analysis of automotive control systems as components of the integrated motion control (IMC). The cooperation of various chassis and powertrain systems is discussed from a viewpoint of improvement of vehicle performance in relation to longitudinal, lateral, and vertical motion dynamics. The classification of IMC systems is proposed. Particular attention is placed on the architecture and methods of subsystems integration.

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Advanced motion control of electric vehicle based on lateral force observer with active steering

Cited by 19 publications

References 8 publications

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

Design of lateral dynamic control objectives for multi-wheeled distributed drive electric vehicles

Systematization of Integrated Motion Control of Ground Vehicles

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