Integrated control of automobile ABS/DYC/AFS for improving braking performance and stability

Proceedings of the Institution of Mechanical Engineers, Part D:

et al. 2021

This paper deals with a new state-constrained control (SCC) system of vehicle, which includes a multi-layer controller, in order to ensure the vehicle’s lateral stability and steering performance under complex environment. In this system, a new constraint control strategy with input and state constraints is applied to calculate the steady-state yaw moment. It ensures the vehicle lateral stability by tracking the desired yaw rate value and limiting the allowable range of the side slip. Through the linkage of the three-layer controller, the tire load is optimized and achieve minimal vehicle velocity reduction. The seven-degree-of-freedom (7-DOF) simulation model was established and simulated in MATLAB to evaluate the effect of the proposed controller. Through the analysis of the simulation results, compared with the traditional ESC and integrated control, it not only solves the problem of obvious velocity reduction, but also solves the problem of high cost and high hardware requirements in integrated control. The simulation results show that designed control system has better performance of path tracking and driving state, which is closer to the desired value. Through hardware-in-the-loop (HIL) practical experiments in two typical driving conditions, the effectiveness of the above proposed control system is further verified, which can improve the lateral stability and maneuverability of the vehicle.

Section: Introductionmentioning

confidence: 90%

Multi-layer controller with state-constraint: Vehicle lateral stability control based on fuzzy logic

Wan

Zeng

Proceedings of the Institution of Mechanical Engineers, Part D:

et al. 2021

“…Wang et al proposed a coordinated control method of ABS and DYC based on sliding mode variable structure control (SMC) three-layer hierarchical control architecture to shorten the braking distance and ensure vehicle stability under emergency braking under complex driving conditions [6]. Feng et al proposed a coordinated control method for ABS, DYC, and AFS based on the three-layer hierarchical control architecture of fuzzy control and SMC, which improved the braking safety and directional stability of the vehicle in the separation of road emergency braking [7]. Wang et al proposed an integrated controller of AFS with electronic stability control (ESC) based on an MPC overall control framework to solve the problems of mutual interference and control allocation in the integrated control of AFS and ESC, and effectively improved vehicle stability [8].…”

Section: Introductionmentioning

confidence: 99%

Multi-Agent-Based Coordinated Control of ABS and AFS for Distributed Drive Electric Vehicles

Wang

et al. 2022

Energies

A vehicle with a four-channel anti-lock braking system (ABS) has poor safety and stability when braking on a low-adhesion road or off-road. In view of this situation, this paper proposes a multi-objective optimization coordinated control method for ABS and AFS based on multi-agent model predictive control (MPC). Firstly, the single-wheel control method is adopted to establish the single-wheel equation based on the slip rate and the stability equation of the centroid yaw based on AFS. The four wheels and the centroid are regarded as agents. The mathematical model of distributed drive electric vehicles based on graph theory and the coordinated control of AFS and ABS is established to reduce the dimension of the model. Secondly, on the basis of the multi-agent theory, an integrated coordinated control method for AFS and ABS based on distributed model predictive control (DMPC) is proposed to realize the ideal values of the vehicle’s slip rate, yaw rate, and sideslip angle, and improve the braking safety and handling stability of the vehicle. Then, to solve the problems of high levels of resource consumption, low real-time performance, and complex implementation in the optimization of the DMPC solution, a prediction solution method using a discrete simplified dual neural network (SDNN) is proposed to balance the computational efficiency and system dynamic performance. Finally, a hardware-in-the-loop (HIL) test bench is built to test the effectiveness of the proposed method under the conditions of a low-adhesion road and an off-road.

“…Li et al (2008) proposed a main/servo-loop structure for integrated vehicle chassis control system. Feng et al (2015) proposed a sliding mode integrated controller based on three degrees of freedom vehicle model to calculate the corrective yaw moment, and the fuzzy controller with the corrective yaw moment and its time derivate for inputs was designed to transform the corrective yaw moment into the inputs of AFS and DYC. Kasinathan et al (2016) proposed an optimal torque vectoring control approach for the integration of AFS and DYC.…”

Section: Introductionmentioning

confidence: 99%

Integrated nonlinear robust adaptive control for active front steering and direct yaw moment control systems with uncertainty observer

Transactions of the Institute of Measurement and Control

Zhou

et al. 2020

This paper presents an integrated nonlinear robust adaptive controller with uncertainty observer for active front wheel steering system and direct yaw moment control system. First, an integrated vehicle chassis control model is established as the nominal model with the additive and multiplicative uncertainties of the system. Secondly, an integrated nonlinear robust adaptive control law with the additive uncertainty observer is designed via Lyapunov stability theory to calculate the corrective yaw moment, and an adaptive law is designed based on projection correction method to online estimate and compensate the multiplicative uncertainty of the system. Then, the constrained optimal allocation problem of the corrective yaw moment is transformed into the nonlinear optimization problem, and the sequential quadratic programming method is used to solve the nonlinear optimization problem to coordinate active front wheel steering system and direct yaw moment control system. Finally, the performance of the proposed integrated nonlinear robust adaptive controller is verified via vehicle dynamics simulation software.