An observer and an integrated braking/traction and steering control for a cornering vehicle

Cherouat, H.; Diop, Sette

doi:10.1109/acc.2005.1470297

Cited by 15 publications

(9 citation statements)

References 3 publications

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“…They used AFS to improve lateral stability at mild cornering conditions before ITD became active. Similar research was done by Shino et al (2002) and Cherouat et al (2004).…”

Section: Introductionsupporting

confidence: 85%

Design of Integrated Chassis Control logics for AFS and ESP

Hwang

Park

Heo

et al. 2008

Int.J Automot. Technol.

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The performance of most electronic chassis control systems in the past has been optimized individually. Recently, a great research effort has been dedicated to the integration of chassis control systems in an effort to improve the vehicle performance. This involves orchestration of individual control modules so that they can jointly contribute to the enhancement of their control effect. In this research, two integrated control logics for AFS (Active Front Steering) and ESP (Electronic Stability Program) have been developed. Of the two logics, one uses a supervisor that rules over the individual modules. The other logic uses a CL (Characteristic Locus) method, which is a frequency-domain multivariable control technique. The two logics have been tested under various driving conditions to investigate their control effects. The results indicate that the proposed integrated control logics can yield vehicle performance that is superior to that of the individual control modules without any integration scheme.

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“…They used AFS to improve lateral stability at mild cornering conditions before ITD became active. Similar research was done by Shino et al (2002) and Cherouat et al (2004).…”

Section: Introductionsupporting

confidence: 85%

Design of Integrated Chassis Control logics for AFS and ESP

Hwang

Park

Heo

et al. 2008

Int.J Automot. Technol.

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“…Assume that the external disturbance acted on the vehicle is constant at each step time. And the state variables can be presented by (14) with the consideration of requirement of EKF.…”

Section: ) Disturbance Observer Design Based On Ekfmentioning

confidence: 99%

“…These methods change the vehicle parameters actively and improve the vehicle performance but produce energy waste and cannot be used widely. For the unavoidable oscillatory yaw motion of DAHVs, some positive methods, including active steering [11] , and differential braking [12][13][14][15] can be taken to keep the vehicle stability. These methods use the direct yaw moment produced by the differential braking or driving methods to overcome the oscillatory yaw motion, which can be widely used in traditional articulated heavy vehicles.…”

Section: Introductionmentioning

confidence: 99%

Differential Drive Based Yaw Stabilization Using MPC for Distributed-Drive Articulated Heavy Vehicle

Liu

et al. 2020

IEEE Access

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This paper presents a differential drive approach for distributed-drive articulated heavy vehicles (DAHVs) with wheel-side motors. The objective is to keep the yaw stability for DAHVs with direct yaw moment in driving process when the external disturbance acts on one of the vehicle parts. Three contributions are made in this paper: 1) An disturbance observer based Extended Kalman Filter (EKF) strategy is implemented to deal with the unknown mismatched disturbances in strong nonlinear vehicle system for DAHVs; 2) The differential drive approach is developed with the guidance of model predictive controller (MPC) to cope with the vehicle instability with the decoupling dynamic analyses of DAHVs under the observed external disturbance and the specific drive limitation of wheel-side motor for the first time; 3) The novel verification techniques with co-simulation model combining with the ADAMS, Simulink, and AMESim software for DAHVs is employed to verify this vehicle stability controller, which is more reasonable than the traditional methods with simple virtual model. The results demonstrate that the proposed approaches can reduce the oscillation amplitude and period of vehicle yaw motion for about 40% and 80%, respectively. Moreover, the MPC strategy is more efficient comparing with the LQR strategy especially on boundaries issue treatment, which can improve the vehicle stability greatly. INDEX TERMS Distributed-drive articulated heavy vehicle, model predictive controller, differential drive, yaw stabilization.

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“…Vehicles with four independent wheel electric motors or conventional Internal Combustion Vehicles (ICVs) with all wheel torque vectoring systems provide a much higher level of vehicle stability control compared to conventional VDC systems. Various advanced VDC system have been proposed and published (Shino et al, 2002;Cherouat et al, 2004;Hattori et al, 2002;Yamakado et al, 2010;Changsun et al, 2012) to minimise the difference between the desired and actual behaviour of the vehicle. Various advanced VDC system have been proposed and published (Shino et al, 2002;Cherouat et al, 2004;Hattori et al, 2002;Yamakado et al, 2010;Changsun et al, 2012) to minimise the difference between the desired and actual behaviour of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

Development of an optimal driver command interpreter for vehicle dynamics control

Zhu

Khajepour

Goodarzi

et al. 2015

IJVAS

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This paper introduces a new driver command interpreter (DCI) for vehicle dynamics control, providing optimal calculation of desired CG forces and moments based on driver inputs and road conditions. The proposed DCI is established based on principles of optimal linear quadratic regulator (LQR) theory and vehicle dynamics. The optimal feed-forward and feedback gains of proposed DCI can be updated in real time by online matrix calculation. Analytical simulations and experimental test results under various driving conditions are presented to evaluate the proposed DCI and vehicle dynamics control system. The simulation and experimental results indicate that the T. Zhu et al. vehicle dynamics control system using the proposed DCI can effectively stabilise the vehicle motion and improve the vehicle handling under critical driving conditions.

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An observer and an integrated braking/traction and steering control for a cornering vehicle

Cited by 15 publications

References 3 publications

Design of Integrated Chassis Control logics for AFS and ESP

Design of Integrated Chassis Control logics for AFS and ESP

Differential Drive Based Yaw Stabilization Using MPC for Distributed-Drive Articulated Heavy Vehicle

Development of an optimal driver command interpreter for vehicle dynamics control

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