Real-time implementation of yaw rate and sideslip control through individual wheel torques

Abstract

Improving vehicle passenger safety is of major importance in modern automotive industry. Within this framework, vehicle stability controllers play a key role, as they actively contribute to maintain vehicle driveability even in potentially dangerous situations. An example of such a controller is Electronic Stability Control (ESC), that brakes individual wheels to generate a direct yaw moment to stabilize the vehicle (e.g. from excessive understeer or oversteer). This paper presents the realtime implementation of a stability controller based on measured (and/or estimated) yaw rate and sideslip angle and on phase-plane related stability criteria. The control strategy is first developed in MATLAB-Simulink environment with a simplified vehicle model. Then, the controller is assessed via software-in-the-loop using a full vehicle model developed in Simcenter Amesim, before implementing it on a real-time platform. Results are promising, endorsing the implementation of hardware-in-the-loop using an Electronic Control Unit.

Hardware-in-the-Loop Real-Time Implementation of a Vehicle Stability Control Through Individual Wheel Torques

“…This paper is an extension of [15], where a yaw rate and sideslip controller using individual brakes was presented, with the validation workflow limited to the real time co-simulation stage. Within this paper, significant further details are provided and, most importantly, a further stage of the workflow is successfully achieved: Hardware-in-the-loop testing.…”

In-Wheel Motor Drive Systems for Electric Vehicles: State of the Art, Challenges, and Future Trends

“…• Direct yaw moment control (DYC): DYC uses independent drive motors that are equipped on IWM-DEVs as actuators. By distributing torque in a specific manner, DYC generates a yaw moment that enables the control of vehicle lateral stability [99][100][101]; • Active front steering (AFS) control: AFS offers an electronically controlled superimposition of an angle to the steering wheel angle, allowing for a continuous and driving-situation dependent adaptation of the steering characteristics. This additional degree of freedom enables the optimization of steering comfort, effort, and dynamics [102][103][104].…”