Vehicle Dynamics Modeling and Electronic Stability Program/ Active Front Steering Sliding Mode Integrated Control

Abstract

Chassis integrated control can significantly improve vehicle handling stability and comfort. Because of the complexity of the problem, it has attracted significant research attention. We built a vehicle nonlinear dynamic model with multi‐degree freedom, including body movement, wheel movement, and electronically controlled hydraulic power steering system. We compared the magic formula tire model, Dugoff tire model, brush tire model, and LuGre dynamic friction tire model and steady model. The precision of the model was verified by a comparison between simulation results and the real vehicle test results. Then, based on the vehicle dynamics model, an AFS (active front steering) controller was designed based on sliding mode variable structure control, and an AFS and ESP (electronic stability program) integrated coordination controller was proposed. Finally, based on the nonlinear tire model and multi‐DOF (degree of freedom) vehicle model, sinusoidal and step steering angle input simulation analysis was proposed on different road friction coefficients. The results show that the vehicle has better response characteristics with coordinated control strategy when compared with AFS and ESP only control. The evidence suggests that the proposed integrated control system in this paper can improve vehicle stability and safety.

Super-twisting algorithm with fast super-twisting disturbance observer for steer-by-wire vehicles

“…And many factors are considered in obtaining the self-aligning torque, such as the pneumatic trail, the road surface friction, the front tire sideslip angle, the front normal load and the cornering stiffness of the front wheel. 33 These self-aligning moment estimation approaches consider relevant characteristic of tyre/suspension/overall system, the estimation results are more close to the real state.…”

Untitled

“…The statistical research shows that ESP system can decrease the number of crash situations, associated with defensive maneuvers even about 8% [13]. The effectiveness of the track stabilization system increases by the recently developing integrated systems combining ESP and AFS (Active Front Steering) [3] or ESP and TVD (Torque Vectoring Differential) [9]. Furthermore, the concepts of using ESP for diagnosing automotive damper defects appears in the literature [19].…”

Driving environment assessment and decision making for cooperative lane change system of autonomous vehicles

“…Interestingly, vehicle‐to‐vehicle accident ratio has been on the rise consecutively during the same period [2]. Many researchers have sought to design algorithms in the vehicle systems to reduce these traffic accidents resulting from human error [3]. Also, many methodologies on decision making for AD have been studied [4].…”