State Estimation for Vehicle Stability Control: A Kinematic Approach Using Only GPS and VSC Sensors

2010 ◽  
Author(s):  
Jonathan Ryan ◽  
Jianbo Lu ◽  
David Bevly
Keyword(s):  
Control Systems ◽  
Stability Control ◽  
Vehicle Stability ◽  
Gps Receiver ◽  
Passenger Vehicles ◽  
Single Antenna ◽  
Vehicle Stability Control ◽  
The Future ◽  
Integration Strategies ◽  
Kinematic Approach

It is well known that the vehicle sideslip and roll angles are very important for vehicle stability control systems. There has been much work focusing on estimating these states, however much of this work assumes knowledge of vehicle parameters or requires sensors which are currently not available on passenger vehicles for cost reasons. This paper presents a method of applying GPS/INS integration strategies to this particular estimation problem. Using a single antenna GPS receiver with a reduced set of INS sensors common to vehicle stability control systems, estimates of the roll and sideslip angles which are robust to different road geometries and changing vehicle parameters can be achieved. While the future may afford the luxury of using more sensors of higher quality, this work offers results which are applicable in today’s market and which would also serve as a means of redundancy in the future.

Development of a Vehicle Stability Control System Using Brake-by-Wire Actuators

2007 ◽  
Vol 130 (1) ◽  
Author(s):  
Daegun Hong ◽  
Inyong Hwang ◽  
Paljoo Yoon ◽  
Kunsoo Huh
Keyword(s):  
Control System ◽  
Control Systems ◽  
Stability Control ◽  
Vehicle Stability ◽  
Wheel Slip ◽  
Vehicle Stability Control ◽  
Assignment Algorithm ◽  
Stability Control System ◽  
Optimal Target ◽  
Braking Force

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a vehicle stability control system is developed based on the braking monitor, wheel slip controller, and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force, and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw-moment controller and fuzzy logic. A hardware-in-the-loop simulator (HILS) is built including electrohydraulic brake hardware and vehicle dynamics software. The effectiveness of the proposed stability control system is demonstrated through the HILS experiment.

Future Vehicle Stability Control Systems for Motorcycles With Focus on Accident Prevention

2008 ◽  
Author(s):  
P. Seiniger ◽  
H. Winner ◽  
J. Gail
Keyword(s):  
Control Systems ◽  
Dynamic Control ◽  
Angular Acceleration ◽  
Rear Wheel ◽  
Stability Control ◽  
Vehicle Stability ◽  
Electronic Stability Program ◽  
Vehicle Stability Control ◽  
Tire Forces ◽  
Motorcycle Accidents

Vehicle Stability Control systems (VSC) for four-wheeled vehicles like the electronic stability program (ESP) helped to decrease the number of traffic deaths in Germany to an all-time low over the last ten years. However, the number of people killed in powered two-wheeler accidents has been almost constant over the same period of time. Vehicle Stability Control systems for powered two-wheelers (especially motorcycles) so far include only anti-lock brakes and traction control systems, both systems are not designed to work in cornering. Further stability control systems are not known up to now. The objective of this paper is to assess the technical possibilities for future Vehicle Stability Control systems and the amount of accidents that could be prevented by those systems. From an accident analysis, all accidents not avoidable by today’s VSC Systems have been analyzed. Only accidents while cornering without braking have been determined as potentially avoidable by future technical systems (braked accidents have been counted as preventable by improved today’s systems). The accidents can be caused by insufficient friction (e.g. slippery road surface, sand, oil or to high curve speed). About 4 to 8 percent of all motorcycle accidents are of this type. The data source for accident descriptions were interviews of motorcycle experts who were able to describe their own accidents and detailed accident descriptions from an accident database. The accident types have been investigated with driving experiments and computer simulation. With a vehicle model different ways to influence the critical driving situations could be analyzed and evaluated. Experiments and simulations showed an instable roll and side-slip angular acceleration of the motorcycle during critical driving situations. The sideslip rate proved to be a robust criterion for recognizing whether a driving situation is critical. The roll movement of the vehicle cannot be influenced with reasonable means, because neither the lateral tire forces can be increased nor stabilizing gyros can be used since the necessary angular momentum is to large for a feasible package. The vehicle sideslip rate can be influenced by braking the front or the rear wheel, thus generating a yaw moment to avoid the dangerous high-side type accidents when friction changes back from low to high. The motorcycle accidents influenced by this system are only a small portion of the mentioned accidents, so as a result of this study, the potential for future vehicle dynamic control systems that help prevent non-braking cornering accidents is estimated quite low.

An Analytical Transient Tire Model

2001 ◽  
Vol 29 (2) ◽  
pp. 108-132 ◽  
Author(s):  
A. Ghazi Zadeh ◽  
A. Fahim
Keyword(s):  
Transient Behavior ◽  
Stability Control ◽  
Vehicle Stability ◽  
Tire Model ◽  
Steering Angle ◽  
First Order ◽  
Vehicle Stability Control ◽  
Proposed Model ◽  
Depth Study ◽  
And Performance

Abstract The dynamics of a vehicle's tires is a major contributor to the vehicle stability, control, and performance. A better understanding of the handling performance and lateral stability of the vehicle can be achieved by an in-depth study of the transient behavior of the tire. In this article, the transient response of the tire to a steering angle input is examined and an analytical second order tire model is proposed. This model provides a means for a better understanding of the transient behavior of the tire. The proposed model is also applied to a vehicle model and its performance is compared with a first order tire model.

Vehicle Stability Control Through Predictive and Optimal Tire Saturation Management

2012 ◽  
Author(s):  
Justin Sill ◽  
Beshah Ayalew
Keyword(s):  
Stability Control ◽  
Vehicle Stability ◽  
Distribution Problem ◽  
Scale Separation ◽  
Torque Distribution ◽  
Hydraulic Hybrid ◽  
Time Scale Separation ◽  
Vehicle Stability Control ◽  
Natural Time ◽  
Set Up

This paper presents a predictive vehicle stability control (VSC) strategy that distributes the drive/braking torques to each wheel of the vehicle based on the optimal exploitation of the available traction capability for each tire. To this end, tire saturation levels are defined as the deficiency of a tire to generate a force that linearly increases with the relevant slip quantities. These saturation levels are then used to set up an optimization objective for a torque distribution problem within a novel cascade control structure that exploits the natural time scale separation of the slower lateral handling dynamics of the vehicle from the relatively faster rotational dynamics of the wheel/tire. The envisaged application of the proposed vehicle stability strategy is for vehicles with advanced and emerging pure electric, hybrid electric or hydraulic hybrid power trains featuring independent wheel drives. The developed predictive control strategy is evaluated for, a two-axle truck featuring such an independent drive system and subjected to a transient handling maneuver.

Mixed H∞/H2 Output Feedback Stability Control for Dual-Motor Independent Drive Electric Vehicle

2013 ◽  
Vol 658 ◽  
pp. 602-608 ◽  
Author(s):  
Cheng Lin ◽  
Chun Lei Peng
Keyword(s):  
Electric Vehicle ◽  
Output Feedback ◽  
Stability Control ◽  
Vehicle Stability ◽  
Robust Performance ◽  
Output Feedback Controller ◽  
Vehicle Stability Control ◽  
Feedback Stability ◽  
Simulation Results ◽  
Yaw Moment

This paper presents the design of mixed H∞/H2Output Feedback Controller for Independent Drive Electric Vehicle Stability Control. It generates yaw moment by applying driving intervention at front Independent driving wheels according to the vehicle states. The performance of the proposed controller is evaluated through a series of simulations under different velocity and different mass. The simulation results show that the controller can help vehicle against a certain range of uncertainty (speeds and loads) and get excellent robust performance.

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