Handling characteristics and stability of the steady-state powerslide motion of an automobile

Edelmann, Johannes; Plöchl, Manfred

doi:10.1134/s1560354709060069

Cited by 37 publications

(16 citation statements)

References 8 publications

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“…Both Edelmann et al [6] and Velenis et al [7] developed controllers for a rear-wheel drive (RWD) vehicle by coordinating front steering and rear drive torques in order to drift a vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…In both cases, the controller was designed by linearizing a vehicle model at one of its drift equilibria and using full state feedback to compute steering and rear drive torque inputs that stabilize the linearized model in closed-loop. Gain selection was accomplished using multiple-input multiple-output (MIMO) design techniques, specifically pole placement in [6] and linear quadratic regulator (LQR) techniques in [7]. When implemented on nonlinear systems, both controllers successfully stabilized a neighborhood around the desired equilibrium, although their design could only tolerate moderate disturbances.…”

Section: Introductionmentioning

confidence: 99%

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A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

2018

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When dealing with electric vehicles, different powertrain layouts can be exploited. Among them, the most interesting one in terms of vehicle lateral dynamics is represented by the one with independent electric motors: two or four electric motors. This allows torque-vectoring control strategies to be applied for increasing vehicle lateral performance and stability. In this paper, a novel control strategy based on torque-vectoring is used to design a drifting control that helps the driver in controlling the vehicle in such a condition. Drift is a particular cornering condition in which high values of sideslip angle are obtained and maintained during the turn. The controller is applied to a rear-wheel drive race car prototype with two independent electric motors on the rear axle. The controller relies only on lateral acceleration, yaw rate, and vehicle speed measurement. This makes it independent from state estimators, which can affect its performance and robustness.

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“…Both Edelmann et al [6] and Velenis et al [7] developed controllers for a rear-wheel drive (RWD) vehicle by coordinating front steering and rear drive torques in order to drift a vehicle.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

2018

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“…This provides valuable information (Edelmann and Plöchl, 2009;Hindiyeh and Gerdes, 2009;Voser et al, 2010;Velenis et al, 2011;Velenis, 2011) for designing sportive Dynamic Stability Control (DSC) systems, which support the driver with automatic single wheel braking and throttle/torque control. This provides valuable information (Edelmann and Plöchl, 2009;Hindiyeh and Gerdes, 2009;Voser et al, 2010;Velenis et al, 2011;Velenis, 2011) for designing sportive Dynamic Stability Control (DSC) systems, which support the driver with automatic single wheel braking and throttle/torque control.…”

Section: Introductionmentioning

confidence: 99%

Robust power-slide control for a production vehicle

Werling

Reinisch

Gröll

2015

IJVAS

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This paper describes a power-slide control strategy for rear-wheel driven sports cars capable of tracking a course angle reference signal while stabilising large sliding angles of the vehicle. Owing to small slip angles at the front wheels compared to the ones at the sliding rear wheels and the precise yaw rate measurement, a fairly simple control strategy can be proposed. It assigns the course angle tracking to the electric power steering. The remaining yaw motion is regulated by a first-order sliding-mode throttle controller, so that the vehicle drifts steadily at a given slip angle. The main advantage of the proposed algorithm is that mainly geometric vehicle parameters and only the measurements of the standard stock sensors are required. The performance is demonstrated on a drive-by-wire capable series production car.

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“…Involved driving situations have to be mastered by active systems with multiple, sometimes redundant actuators, or eventually by applying different control commands by the driver. As an example, the steady-state powerslide of an automobile (large side slip angle, negative steering angle, large rear drive torque) is considered here as a manoeuvre characterized by nonlinear tyre characteristics and saturated horizontal tyre forces, [3]. Due to its typically unstable nature, [3], the powerslide motion has to be stabilized either by the driver or an active system by controlling the steering angle and/or the accelerator pedal.…”

Section: Introductionmentioning

confidence: 99%

“…As an example, the steady-state powerslide of an automobile (large side slip angle, negative steering angle, large rear drive torque) is considered here as a manoeuvre characterized by nonlinear tyre characteristics and saturated horizontal tyre forces, [3]. Due to its typically unstable nature, [3], the powerslide motion has to be stabilized either by the driver or an active system by controlling the steering angle and/or the accelerator pedal. Consequences, and an appropriate driver model have been presented in [4].…”

Section: Introductionmentioning

confidence: 99%

Controllability of the powerslide motion of an automobile with different actuation inputs

Edelmann

Plöchl

2016

Proc Appl Math and Mech

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Both human drivers and driver assist systems may apply steering and throttle commands to master several driving situations. In order to study the effectiveness of redundant inputs, modal controllability and observability measures are analysed for both regular steady-state cornering and, alternatively, inherent unstable powerslide motion. In contrast to regular cornering, both inputs are effective at powerslide motion.

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Handling characteristics and stability of the steady-state powerslide motion of an automobile

Cited by 37 publications

References 8 publications

A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

Robust power-slide control for a production vehicle

Controllability of the powerslide motion of an automobile with different actuation inputs

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