Analysis and control of vehicle dynamics under crosswind conditions

HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles

“…Finally, a disturbance due to the wind is considered, which has been implemented in [2,4]. e wind induces longitudinal/lateral forces F d,x , F d,y , and a yaw moment M d,z [34]. In terms of the front/lateral surfaces A s,f , A s,l of the vehicle, the air density ρ, and the (dimensionless) front/ lateral aerodynamic coefficients c a,x , c a,y , the expression of the forces, and yaw torque due to the wind are F d,x � − (A s,f ρc a,x v 2 aw,x /2), F d,y � − (A s,l ρc a,y v 2 aw,y /2), M d,z � l c F d,y , where l c � l c0 + 0.025N is the distance between the center of mass and the center of pressure, with l c0 the nominal value and N a white noise.…”

Nonlinear adaptive tracking for ground vehicles

“…The nominal parameters are the following The crosswind induces a pitching moment, around the y direction, a roll moment in the x direction, and a yaw moment d [5], [7], [12]. In terms of the front surface of the vehicle As = 2.5 m 2 , the overall length l f +lr of the vehicle, the air density ρ = 1.2 kg/m 3 , and the aerodynamic coefficient c ψ = 0.3, the expression of the disturbance d is d = As(l f + lr)ρc ψ v 2 w /2.…”

“…Hence, the controller (6), (7) can not be directly implemented. The signals usually measured are the longitudinal and lateral accelerations ax, ay, the angular velocity ωz and the longitudinal velocity vx of the vehicle.…”

“…The disturbance d is typically due to the environmental actions, such as the wind. Blasts of lateral wind, or crosswind, can determine dangerous situations [7].…”

“…In a similar way, the brake-by-wire subsystems or active differentials allow imposing a yaw moment to the vehicle, which can be used to improve its handling and stability performance, as well as lateral vehicle responsiveness and, principally, occupant safety. The control problem is particularly challenging due to the presence of parameter uncertanties/variation (tire-road friction coefficient, lateral tire stiffness) and environmental perturbations acting on the vehicle (lateral wind, or crosswind [7]). …”