Control and stability of the lateral dynamics of the vehicle to avoid road accidents

Sava, Daniel; Copae, Ion

doi:10.30574/gjeta.2021.6.2.0029

Cited by 4 publications

(4 citation statements)

References 5 publications

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“…There are discrepancies in lateral regions from different sources in the literature (HUANG; LIANG; SAVA;COPAE, 2021;ZHANG et al, 2020).…”

Section: Lateral Stability Regions Reviewmentioning

confidence: 99%

“…Lateral stability regions are important in the analysis and design of ESC systems because their operation principle is either keeping the vehicle in a stable region or bringing its state back to that region. Lateral stability regions are presented in (HUANG; LIANG; SAVA;COPAE, 2021;ZHANG et al, 2020), based on the linearized system characteristic equation, and in (CHEN et al, 2016;INAGAKI;KUSHIRO;YAMAMOTO, 1994;ZHANG et al, 2011;LIANG;LI, 2016;SUN et al, 2013), from the phase portrait obtained a simplified nonlinear model.…”

Section: Lateral Stability Regionsmentioning

confidence: 99%

“…We also use the coefficients of the equation directly, instead of trying to solve the inequalities for one of their parameters. Moreover, we present a method that allows for arbitrarily high-quality images, and we generate those for more parameters than previous studies, and for a wider range of those previously published, e.g., in (HUANG; LIANG; SAVA;COPAE, 2021;ZHANG et al, 2020).…”

Section: Lateral Stability Regions Reviewmentioning

confidence: 99%

“…Hence that model assumes all the aforementioned substitutions have been considered. These models have been used in LIANG;SAVA;COPAE, 2021;ZHANG et al, 2020). In this study, instead, none of the aforementioned simplifications have been considered.…”

Section: System Model For Stability Analisysmentioning

confidence: 99%

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Métodos de controle de segurança crítica para estabilidade lateral veicular.

Alves

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Aplicamos controle de segurança crítica a controle eletrônico de estabilidade, com foco em estabilidade lateral. As vantagens inerentes de controle eletrônico de estabilidade de veículos automotores e as restrições intrínsecas de segurança presentes em sistemas de emergência justificam a proposta. Os fundamentos de dinâmica e estabilidade veicular são apresentados, subdivididos em dinâmica de pneus, corpo e chassi, e controle. Segue uma introdução à teoria de funções de controle de barreira, apresentando suas propriedades, vantagens, e limitações. Inicialmente, aprimoramos e corrigimos métodos de geração de regiões de estabilidade lateral. Após, estendemos teoria de controle de segurança crítica baseada em funções de barreira de controle para acomodar controle eletrônico de estabilidade usando esterçamento ativo e frenagem diferencial. Por fim, investigamos a viabilidade de funções de barreira de controle para estabilidade veicular após as referidas extensões, concluindo que os requisitos são satisfeitos. Validamos as propostas através de simulação usando modelos cada vez mais complexos, desde modelos de segunda ordem linearizados a softwares comerciais de simulação veicular. Palavras-chave: Dinâmica veicular.

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“…There are discrepancies in lateral regions from different sources in the literature (HUANG; LIANG; SAVA;COPAE, 2021;ZHANG et al, 2020).…”

Section: Lateral Stability Regions Reviewmentioning

confidence: 99%

Section: Lateral Stability Regionsmentioning

confidence: 99%

Section: Lateral Stability Regions Reviewmentioning

confidence: 99%

Section: System Model For Stability Analisysmentioning

confidence: 99%

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Métodos de controle de segurança crítica para estabilidade lateral veicular.

Alves

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Predictive Control Applied to the Steering System of an Autonomous Vehicle

Manuel

Lenzi

Santos

et al. 2022

J. Vib. Eng. Technol.

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Vehicle Lateral Stability Regions for Control Applications

2022

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This article presents an improved method of obtaining lateral stability regions for road vehicles, considering the influence of steering angle, center of gravity, longitudinal speed, and tire-road friction coefficient on the vehicle dynamics. Comprehensive stability regions are obtained for a wide range of such parameters. Moreover, conservative stability regions are proposed, in the case of control applications that demand robust or safety-critical control actions. Next, a steering-angle-dependent region is used to implement a safety-critical electronic stability control system with active front steering as actuation. The resulting control system extends safety-critical control based on control-dependent barrier functions, introducing a control-dependent Lyapunov function to improve its steady-state behavior. Finally, we identify and propose workarounds for problems that arise from the number of inputs being less than the dimension of the desired safe set. The conservative stability regions and the extended safety-critical control system are validated by means of simulation results based on a nonlinear lateral stability model. INDEX TERMSActive front steering, control barrier function, electronic stability control, safety-critical control, vehicle lateral stability, vehicle stability control.

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Control and stability of the lateral dynamics of the vehicle to avoid road accidents

Cited by 4 publications

References 5 publications

Métodos de controle de segurança crítica para estabilidade lateral veicular.

Métodos de controle de segurança crítica para estabilidade lateral veicular.

Predictive Control Applied to the Steering System of an Autonomous Vehicle

Vehicle Lateral Stability Regions for Control Applications

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