Integrated attitude motion and lateral stability control of a vehicle via active suspension and rear-wheel steering control system

2016 ◽  
pp. 377-386
Keyword(s):  
Control System ◽  
Active Suspension ◽  
Rear Wheel ◽  
Stability Control ◽  
Attitude Motion ◽  
Lateral Stability ◽  
Steering Control

Study on Vehicle Stability Control Based on Yaw Following and 4WS

2011 ◽  
Vol 204-210 ◽  
pp. 1724-1727
Author(s):  
Si Qi Zhang ◽  
Shu Wen Zhou ◽  
Guang Yao Zhao
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
High Speed ◽  
Stability Control ◽  
Vehicle Stability ◽  
Lateral Stability ◽  
Steering Control ◽  
Stopping Distance ◽  
Vehicle Stability Control ◽  
Will Force

Because of the high speed and insufficient stopping distance, a sudden obstacle will force the vehicle to perform a lane change maneuver to avoid a crash or rear-end collision. A vehicle yaw following control system was designed in this paper to prevent vehicles from spinning and drifting out on high speed obstacle avoidance under emergency. However, yaw following control system, in some situation, may not react properly to, or even deteriorate on-road rollover events. Four-wheel steering control system can reduce the excessive yaw movement due to yaw following control system. An integration control system, including yaw following control system and four-wheel steering control system was presented and discussed. With this improved control system, the vehicle lateral stability can be improved on high speed obstacle avoidance.

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

2021 ◽  
pp. 095440702110142
Author(s):  
Neng Wan ◽  
Guangping Zeng ◽  
Chunguang Zhang ◽  
Dingqi Pan ◽  
Songtao Cai
Keyword(s):  
Control System ◽  
Integrated Control ◽  
State Constraint ◽  
Stability Control ◽  
Lateral Stability ◽  
System A ◽  
Velocity Reduction ◽  
Vehicle Velocity ◽  
Allowable Range ◽  
Simulation Results

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.

Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Richard Roebuck ◽  
Andrew Odhams ◽  
Kristoffer Tagesson ◽  
Caizhen Cheng ◽  
David Cebon
Keyword(s):  
Control System ◽  
High Speed ◽  
Tracking Error ◽  
Path Following ◽  
Stability Control ◽  
Substantial Improvement ◽  
Lateral Acceleration ◽  
Steering Control ◽  
Stability Margins ◽  
Stability Control System

A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination.

Stability Control on Tractor Semi-Trailer during Split-Mu Braking

2011 ◽  
Vol 230-232 ◽  
pp. 549-553 ◽  
Author(s):  
Shu Wen Zhou ◽  
Si Qi Zhang ◽  
Guang Yao Zhao
Keyword(s):  
High Speed ◽  
Stability Control ◽  
Integrated System ◽  
Road Surface ◽  
Lateral Stability ◽  
Steering Control ◽  
Emergency Braking ◽  
Stopping Distance ◽  
Articulated Vehicles ◽  
Multi Body

Handling behaviour of articulated vehicles combination is more complex and less predictable than that of non-articulated vehicles. It is usually difficult for drivers to maneuver a tractor semi-trailer during high speed emergency braking on split-mu road surface. Braking on this type of road surface, the conventional anti-lock braking systems will cause the vehicle deviate from the desired direction, or overmuch stopping distance. In this paper, a 3-dof of tractor semi-trailer model was used to produce desired yaw rates which were compared with actual yaw rates. An active front steering control and four-channel ABS were integrated to improve the tractor semi-trailer lateral stability while braking on split-mu road surface, which will produce maximum braking force. A full function tractor semi-trailer model was built and assembled in multi-body dynamics software, and the dynamic analysis was performed on split-mu road surface. The simulation results show that the integrated system can improve the tractor semi-trailer lateral stability under braking on split-mu road surface.

A new robust combined control system for improving manoeuvrability, lateral stability and rollover prevention of a vehicle

2019 ◽  
Vol 234 (1) ◽  
pp. 198-213 ◽  
Author(s):  
Mohammad Amin Saeedi
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Method ◽  
Sliding Mode ◽  
Lateral Stability ◽  
Steering Control ◽  
Nonlinear Dynamic Model ◽  
Active Steering ◽  
Combined Control ◽  
Active Steering Control

This paper presents a new effective method in order to achieve an appropriate performance for a four-wheeled vehicle during different conditions. The main goal of the study is focused on the handling improvement and lateral stability increment of the vehicle using a robust combined control system. First, in order to increase the vehicle's manoeuvrability, an active steering control system is proposed based on the sliding mode control method and using the simplified dynamic model. The tracking of the desired values of the yaw rate and lateral velocity of the vehicle is the main purpose for using the controller. Also, in order for verifying the performance of the sliding mode controller, the linearization feedback control method is used to design the active steering control system. Moreover, to improve the directional stability of the vehicle, a new active roll control system is proposed. In this control system, the roll angle is considered as the state variable as well as the active anti-roll-bar is utilized as an actuator to generate the roll moment. Then, a 14-degrees-of-freedom nonlinear dynamic model of the vehicle validated using CarSim software is utilized. Afterward, the performance of the designed combined control system is investigated at various velocities. The simulation results confirm that the combined control system has an important effect on vehicle's manoeuvrability improvement and its lateral stability increment, especially during severe transient manoeuvre.

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