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.

Adaptive Vehicle Stability Control With Optimal Tire Force Allocation

2012 ◽  
Author(s):  
Mustafa Ali Arat ◽  
Kanwar Bharat Singh ◽  
Saied Taheri
Keyword(s):  
Stability Control ◽  
Crash Risk ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Successful Implementation ◽  
Tire Force ◽  
Vehicle Stability Control ◽  
Saturation Region ◽  
Road Friction ◽  
Tire Forces

Vehicle stability control systems have been receiving increasing attention, especially over the past decade, owing to the advances in on-board electronics that enables successful implementation of complex algorithms. Another major reason for their increasing popularity lies in their effectiveness. Considering the studies that expose supporting results for reducing crash risk or fatality, organizations such as E.U. and NHTSA are taking steps to mandate the use of such safety systems on vehicles. The current technology has advanced in many aspects, and undoubtedly has improved vehicle stability as mentioned above; however there are still many areas of potential improvements. Especially being able to utilize information about tire-vehicle states (tire forces, tire-slip angle, and tire-road friction) would be significant due to the key role tires play in providing directional stability and control. This paper presents an adaptive vehicle stability controller that makes use of tire force and slip-angle information from an online tire monitoring system. Solving the optimality problem for the tire force allocation ensures that the control system does not push the tires into the saturation region where neither the driver nor the controller commands are implemented properly. The proposed control algorithm is implemented using MATLAB/CarSim® software packages. The performance of the system is evaluated under an evasive double lane change maneuver on high and low friction surfaces. The results indicate that the system can successfully stabilize the vehicle as well as adapting to the changes in surface conditions.

scholarly journals Improving Handling Stability Performance of Four-Wheel Steering Vehicle Based on the H2/H∞ Robust Control

2019 ◽  
Vol 9 (5) ◽  
pp. 857 ◽  
Author(s):  
Fei-Xiang Xu ◽  
Xin-Hui Liu ◽  
Wei Chen ◽  
Chen Zhou ◽  
and Bing-Wei Cao
Keyword(s):  
Robust Control ◽  
System Performance ◽  
Rear Wheel ◽  
Stability Control ◽  
Driver Model ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Stability Performance ◽  
Vehicle Stability Control ◽  
Modeling Uncertainties

Considering the demand for vehicle stability control and the existence of uncertainties in the four-wheel steering (4WS) system, the mixed H2/H∞ robust control methodology of the 4WS system is proposed. Firstly, the linear 2DOF vehicle model, the nonlinear 8DOF vehicle model, the driver model, and the rear wheel electrohydraulic system model were constructed. Secondly, based on the yaw rate tracking strategy, the mixed H2/H∞ controller was designed with the optimized weighting functions to guarantee system performance, robustness, and the robust stability of the 4WS vehicle stability control system. The H∞ method was applied to minimize the effects of modeling uncertainties, sensor noise, and external disturbances on the system outputs, and the H2 method was used to ensure system performance. Finally, numerical simulations based on Matlab/Simulink and hardware-in-the-loop experiments were performed with the proposed control strategy to identify its performance. The simulation and experimental results indicate that the handling stability of the 4WS vehicle is improved by the H2/H∞ controller and that the 4WS system with the H2/H∞ controller has better handling stability and robustness than those of the H∞ controller and the proportional controller.

Handling Delays in Yaw Rate Control of Electric Vehicles Using Model Predictive Control With Experimental Verification

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Milad Jalali ◽  
Amir Khajepour ◽  
Shih-ken Chen ◽  
Bakhtiar Litkouhi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Rear Wheel ◽  
Stability Control ◽  
Vehicle Stability ◽  
Control Loop ◽  
Yaw Rate ◽  
Vehicle Stability Control ◽  
Wheel Drive ◽  
Rear Wheel Drive

In this paper, a new approach is proposed to deal with the delay in vehicle stability control using model predictive control (MPC). The vehicle considered here is a rear-wheel drive electric (RWD) vehicle. The yaw rate response of the vehicle is modified by means of torque vectoring so that it tracks the desired yaw rate. Presence of delays in a control loop can severely degrade controller performance and even cause instability. The common approaches for handling delays are often complex in design and tuning or require an increase in the dimensions of the controller. The proposed method is easy to implement and does not entail complex design or tuning process. Moreover, it does not increase the complexity of the controller; therefore, the amount of online computation is not appreciably affected. The effectiveness of the proposed method is verified by means of carsim/simulink simulations as well as experiments with a rear-wheel drive electric sport utility vehicle (SUV). The simulation results indicate that the proposed method can significantly reduce the adverse effect of the delays in the control loop. Experimental tests with the same vehicle also point to the effectiveness of this technique. Although this method is applied to a vehicle stability control, it is not specific to a certain class of problems and can be easily applied to a wide range of model predictive control problems with known delays.

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.

Estimation of Tire Forces for Application to Vehicle Stability Control

2010 ◽  
Vol 59 (2) ◽  
pp. 638-649 ◽  
Author(s):  
Wanki Cho ◽  
Jangyeol Yoon ◽  
Seongjin Yim ◽  
Bongyeong Koo ◽  
Kyongsu Yi
Keyword(s):  
Stability Control ◽  
Vehicle Stability ◽  
Vehicle Stability Control ◽  
Tire Forces

scholarly journals Comparison among Active Front, Front Independent, 4-Wheel and 4-Wheel Independent Steering Systems for Vehicle Stability Control

Electronics ◽  
2020 ◽  
Vol 9 (5) ◽  
pp. 798 ◽  
Author(s):  
Seongjin Yim
Keyword(s):  
Stability Control ◽  
Front Wheel ◽  
Vehicle Stability ◽  
Force Model ◽  
Vehicle Simulation ◽  
Vehicle Stability Control ◽  
Moment Distribution ◽  
Yaw Moment Control ◽  
Tire Forces ◽  
Yaw Moment

For the last four decades, several steering systems for vehicles such as active front steering (AFS), front wheel independent steering (FWIS), 4-wheel steering (4WS) and 4-wheel independent steering (4WIS) have been proposed and developed. However, there have been few approaches for comparison among these steering systems with respect to yaw rate tracking or path tracking performance. This paper presents comparison among AFS, FWIS, 4WS and 4WIS in terms of vehicle stability control. In view of vehicle stability control, these systems are used as an actuator for generation of yaw moment. Direct yaw moment control is adopted to calculate a control yaw moment. Distribution from the control yaw moment into tire forces is achieved by a control allocation method. From the calculated tire forces, the steering angles of FWIS, 4WS and 4WIS are determined with a lateral tire force model. To check the performance of these actuators, simulation is conducted on vehicle simulation packages, CarSim. From the simulation, the advantages of FWIS and 4WIS are revealed over AFS and 4WS.

scholarly journals Vehicle Stability Control with Four-Wheel Independent Braking, Drive and Steering on In-Wheel Motor-Driven Electric Vehicles

Electronics ◽  
2020 ◽  
Vol 9 (11) ◽  
pp. 1934
Author(s):  
Jaewon Nah ◽  
Seongjin Yim
Keyword(s):  
Electric Vehicles ◽  
Stability Control ◽  
Vehicle Stability ◽  
Control Allocation ◽  
Lateral Stability ◽  
Allocation Method ◽  
Vehicle Stability Control ◽  
Yaw Moment Control ◽  
Tire Forces ◽  
Yaw Moment

This paper presents a method to design a vehicle stability controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) for electric vehicles (EVs) adopting in-wheel motor (IWM) system. To improve lateral stability and maneuverability of vehicles, a direct yaw moment control strategy is adopted. A control allocation method is adopted to distribute control yaw moment into tire forces, generated by 4WIB, 4WID and 4WIS. A set of variable weights in the control allocation method is introduced for the application of several actuator combinations. Simulation on a driving simulation tool, CarSim®, shows that the proposed vehicle stability controller is capable of enhancing lateral stability and maneuverability. From the simulation, the effects of actuator combinations on control performance are analyzed.

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