Coordinated control strategy of roll-yaw stability and path tracking for centralized drive electric vehicles

Xu, Tongliang; Xuan-yao, Wang; Ma, Chengcheng; Wei, Xing

doi:10.1177/09544070221093429

Cited by 5 publications

(6 citation statements)

References 40 publications

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“…As the value of the friction coefficient decreases, the value of LTR also decreases. The proposed control methodology is compared with the previous state of the art [12][13][14] to show that the yaw and roll stability has improved in the obtained results. From the results obtained in [12], for the fishhook maneuver (FH), it is observed that the yaw rate and the roll angle comprise of fluctuations at the extreme peak values.…”

Section: Fishhook (Fh) Maneuvermentioning

confidence: 99%

“…The proposed control methodology is compared with the previous state of the art [12][13][14] to show that the yaw and roll stability has improved in the obtained results. From the results obtained in [12], for the fishhook maneuver (FH), it is observed that the yaw rate and the roll angle comprise of fluctuations at the extreme peak values. Due to the presence of these transients, a smooth cornering is not obtained, and the vehicle is susceptible to noise.…”

Section: Fishhook (Fh) Maneuvermentioning

confidence: 99%

“…In [14], the yaw rate and roll angle obtained are deflected from the desired values. A lane change maneuver (LC) response for the proposed methodology is also compared with [12][13][14]. In [12], the yaw rate and roll angle comprise of the transients, affecting the performance of the vehicle.…”

Section: Fishhook (Fh) Maneuvermentioning

confidence: 99%

“…A lane change maneuver (LC) response for the proposed methodology is also compared with [12][13][14]. In [12], the yaw rate and roll angle comprise of the transients, affecting the performance of the vehicle. Similarly, in [14] , the presence of the fluctuations throughout the lane changing time interval reduces the stability of vehicle.…”

Section: Fishhook (Fh) Maneuvermentioning

confidence: 99%

“…For the yaw and roll stability of buses, a combined AFS, DYC, and Active Roll Moment (ARM) is implemented based on mixed 𝐻𝐻 2 /𝐻𝐻 ∞ in [11]. For the different dynamics stability and control simultaneously, including yaw stability, roll stability, roll-yaw stability, and rollover prevention, a coordinated control strategy by toggling between different control modes [12]. An integrated control approach for yaw and roll over stability is proposed based on the differential braking [13].…”

Section: Introductionmentioning

confidence: 99%

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An adaptive model predictive control for coupled yaw and rollover stability of vehicle during corner maneuvers

Kumar,

Dheer,

Verma

2023

JMES

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This paper presents a control strategy to achieve yaw and roll stability by taking into account the physical interaction between the yaw and roll dynamics to prevent vehicle collisions in hilly or curved terrain. The mathematical model is formulated utilizing a roll dynamic model with a small tyre slip angle and a bicycle model with two degrees of freedom considering coupling of yaw and roll dynamics. An adaptive model predictive controller and a PID controller are included in the proposed control methodology so that a real-time scenario of variation in the longitudinal velocity and friction coefficient is considered. Stability limits are established based on the yaw rate, sideslip, and roll motions of the vehicle, taking into account the effects of the road angle. The friction coefficients of 0.4 and 0.8 are chosen for wet and dry road surfaces to show manoeuvrability and force the vehicle to avoid rollover condition. Using numerical simulations in Matlab R2022a, the effectiveness of the designed controller is assessed. A root mean square error (RMSE) is calculated for the proposed methodology for the evaluation of the performance and the values are obtained as 3.032 and 3.912 for friction coefficient of 0.8 for yaw rate and roll angle respectively. On comparing with the other methodology, it is found that the performance of the proposed method is better based on RMSE. Also, the fluctuations at the corners are removed and the variables are bound inside the stability limit, thus avoiding the vehicle from accidents in hilly areas. The robustness of the controller towards increasing the mass of the vehicle by 5% and 10% is found to be good.

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