A Fuzzy Control Method to Improve Vehicle Yaw Stability Based on Integrated Yaw Moment Control and Active Front Steering
24 Sep 2007-pp 1508-1512
TL;DR: In this paper, a fuzzy control method is proposed to improve vehicle yaw stability by integrated yaw moment control and active front steering, which can effectively control the yaw rate and side slip angle synchronously.
Abstract: In this paper, a fuzzy control method is proposed to improve vehicle yaw stability by integrated yaw moment control and active front steering. This control system is designed by actively controlling the front steering angle and the distribution of braking forces, using feed-forward regulation and feedback revision control strategy, and a fuzzy controller is designed to suppress the output error of yaw rate and side slip angle, which can keep the vehicle to follow the desired trajectories. A simulation based on this control method is performed with a vehicle at two different running conditions, and the simulation results by other different control methods are compared also. The results showed that the presented method can effectively control the yaw rate and side slip angle synchronously, the transient and steady response of vehicle is good, the vehicle yaw stability is improved.
Citations
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TL;DR: Through the CarSim-Matlab/Simulink co-simulations, the results show that this improved Model Predictive Control controller presents better tracking performance than the latter ones considering both tracking accuracy and steering smoothness.
Abstract: In this paper, an improved Model Predictive Control (MPC) controller based on fuzzy adaptive weight control is proposed to solve the problem of autonomous vehicle in the process of path tracking. The controller not only ensures the tracking accuracy, but also considers the vehicle dynamic stability in the process of tracking, i.e., the vehicle dynamics model is used as the controller model. Moreover, the problem of driving comfort caused by the application of classical MPC controller when the vehicle is deviated from the target path is solved. This controller is mainly realized by adaptively improving the weight of the cost function in the classical MPC through the fuzzy adaptive control algorithm. A comparative study which compares the proposed controller with the pure-pursuit controller and the classical MPC controller is made: through the CarSim-Matlab/Simulink co-simulations, the results show that this controller presents better tracking performance than the latter ones considering both tracking accuracy and steering smoothness.
101Â citations
Cites methods from "A Fuzzy Control Method to Improve V..."
...A fuzzy controller is presented to improve vehicle yaw stability by actively controlling the front steering angle and the distribution of braking forces [13]....
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TL;DR: In this paper, an anti-lock braking system (ABS) and an electronic stability program (ESP) are integrated for vehicle stability control in complex braking maneuvers, and the proposed control algorithm is implemented for a sport utility vehicle and investigated for braking on different surfaces.
Abstract: Automotive driving safety systems such as an anti-lock braking system (ABS) and an electronic stability program (ESP) assist drivers in controlling the vehicle to avoid road accidents. In this paper, ABS and the ESP, based on the fuzzy logic theory, are integrated for vehicle stability control in complex braking maneuvers. The proposed control algorithm is implemented for a sport utility vehicle (SUV) and investigated for braking on different surfaces. The results obtained for the vehicle software simulator confirm the robustness of the developed control strategy for a variety of road profiles and surfaces.
33Â citations
Cites methods from "A Fuzzy Control Method to Improve V..."
...The authors in [25] have integrated yaw moment and active front steering controllers based on the FLC....
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TL;DR: In this article, a multi-layer integrated controller of active front steering and direct yaw moment is developed, where the desired value for yaw rate and sideslip angle are obtained from a Four-Degrees of Freedom (DOF) non-linear vehicle model.
Abstract: A multi-layer integrated controller of active front steering and direct yaw moment is developed in this study. In the upper layer, the corrective steering angle and yaw moment are obtained using Sliding Mode Control (SMC) with combined sliding surface. The corrective yaw moments are applied by electric motors embedded in rear wheels. The desired value for yaw rate and sideslip angle are obtained from a Four-Degrees of Freedom (DOF) non-linear vehicle model. In the lower layer, wheel slip and electric motor torque controllers are designed. A 9-DOF non-linear vehicle model is used for simulations and their results illustrate considerable improvements in vehicle handling.
29Â citations
TL;DR: In this article, a yaw stability control system is proposed to improve the handling and stability of a four-independent-wheel drive electric vehicle (EV), which consists of an active front steering (AFS) controller together with a direct yaw moment controller based on Sliding Mode Control (SMC) and a dynamic force distribution controller (DFD) based on the optimal sequential quadratic programming method (SQPM).
Abstract: A yaw stability control system is proposed to improve the handling and stability of a four-independent-wheel drive Electric Vehicle (EV). The control system comprises an Active Front Steering (AFS) controller together with a direct yaw moment controller based on Sliding Mode Control (SMC) and a dynamic force distribution controller based on the optimal Sequential Quadratic Programming Method (SQPM). The function of the control system is to trace the desired yaw rate and meanwhile to keep the sideslip angle of the body Centre of Gravity be minimised. The optimum torque distribution method is applied to adjust the torque of all four wheels. By measuring the vehicle states, the control algorithm determines the level of vehicle stability and intervenes when necessary through individual wheel traction control to provide added stability and handing predictability. The controller system distributes torque and power to each motor to meet the requirements of each wheel. The effectiveness and validation of the proposed control method are evaluated by experiments and simulations. The results manifest that the designed system can assist drivers in controlling the EV's stability during adverse driving manouevres and enhance its performance.
22Â citations
14 Aug 2009
TL;DR: Simulation and experiment results of dynamic responses for sideslip angle and yaw rate of the EV manifest that the DYC system can assist drivers with controlling the stability of the vehicle during adverse driving maneuvers over a variety of road conditions and enhance the handling stability ofThe EV.
Abstract: A direct yaw-moment control (DYC) method is proposed for the purpose of improving the handling stability of an all in-wheel motor drive electric vehicle (EV). The control system in combination with a fuzzy logic direct yaw-moment controller and an active front steering controller based on sliding mode control. By measurements of vehicle states, the control algorithm determines the level of vehicle stability and intervenes as necessary through individual wheel traction control to provide added stability and handing predictability. Therefore, the stability control system distributes torque and power to each motor to meet the requirements of each wheel. The effectiveness and validation of the proposed control method are evaluated both by Matlab/Simulink based on simulations and experiments. Simulation and experiment results of dynamic responses for sideslip angle and yaw rate of the EV manifest that the DYC system can assist drivers with controlling the stability of the vehicle during adverse driving maneuvers over a variety of road conditions and enhance the handling stability of the EV.
22Â citations
Cites background from "A Fuzzy Control Method to Improve V..."
...Although several control methods have already been proposed using the motor-wheel drive merits, their controllers depend on some immeasurable parameters such as vehicle velocity, slip angle or cornering stiffness, which are hard to estimate[6]....
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References
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Book•
15 May 2009
TL;DR: In this article, the authors combine classical vehicle dynamics with electronic control to develop a thorough understanding of the key attribute to both a vehicle's driveability and its active safety, including tire mechanics, the steering system, vehicle roll, traction and braking.
Abstract: This is the first book to combine classical vehicle dynamics with electronic control. The equation-based presentation of the theory behind vehicle dynamics enables readers to develop a thorough understanding of the key attribute to both a vehicle's driveability and its active safety. Supported by MATLAB tools, the key areas that affect vehicle dynamics are explored including tire mechanics, the steering system, vehicle roll, traction and braking, 4WS and vehicle dynamics, vehicle dynamics by vehicle and human control, and controllabiliy. As a professional reference volume, this book is an essential addition to the resources available to anyone working in vehicle design and development. Written by a leading authority in the field (who himself has considerable practical experience), the book has a unique blend of theory and practice that will be of immense value in this applications based field.* Get a thorough understand of why vehicles respond they way they do with a complete treatment of vehicle dynamics from theory to application* Full of case studies and worked examples using MATLAB/Simulink * Covers all variables of vehicle dynamics including tire and vehicle motion, control aspects, human control and external disturbances
323Â citations
"A Fuzzy Control Method to Improve V..." refers methods in this paper
...In this paper, actual vehicle model in [7] is shown in Fig....
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Book•
12 Apr 1994
TL;DR: In this paper, the pneumatic tire, axis systems and equations of motion, the control and stability of basic rigid vehicles, suspension characteristics and control and stabilisation of articulated vehicles are discussed.
Abstract: A text which is aimed at tyre and vehicle manufacturers. Topics discussed in the book are the pneumatic tyre, axis systems and equations of motion, the control and stability of basic rigid vehicles, suspension characteristics and control and stability of articulated vehicles.
259Â citations
TL;DR: In this paper, a model-matching control technique was used to improve vehicle handling and stability under severe driving conditions by actively controlling the front steering angle and the distribution of braking forces on four tires.
Abstract: This study proposes a control system to improve vehicle handling and stability under severe driving conditions by actively controlling the front steering angle and the distribution of braking forces on four tires. With the application of a model-matching control technique, this proposed control system makes the performance of the actual vehicle model follow that of an ideal vehicle model with consideration of nonlinearity of tire characteristics. Finally, this paper investigates the effectiveness of control system during the following conditions: braked cornering, lane change and side wind disturbance.
250Â citations
"A Fuzzy Control Method to Improve V..." refers methods in this paper
...A Feed-Forward Compensator The feed-forward compensator in [8] is designed to decide the control inputs directly by the steering wheel, while the feedback compensator is designed to suppress the output errors, such as the side slip angle and the yaw rate response, the output errors between the actual vehicle model and the desired model can be calculated as follows:...
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...1991 [8] Masao Nagai, Motoki Shino, Feng Gao....
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TL;DR: In this article, the use of direct yaw moment control by driving or braking forces distribution for improving handling and stability of electric vehicle is investigated based on its structural merit that electric motors are connected directly to the tires, the implementation of such a control system is expected to achieve satisfactory control performance.
Abstract: This paper investigates the use of direct yaw moment control by driving or braking forces distribution for improving handling and stability of electric vehicle. Based on its structural merit that electric motors are connected directly to the tires, the implementation of such a control system is expected to achieve satisfactory control performance. Fundamentally the structure of control system is model matching controller which makes the vehicle follow the desired dynamic model by side slip angle regulating feedforward and the state feedback of both yaw rate and side slip angle. Various computer simulations are carried out to verify the effectiveness of the control system. It is clarified that the handling and stability of electric vehicle is improved and the control system still maintain satisfactory control performance despite the change of road surface condition.
139Â citations
TL;DR: It is proved that the side-slip control by DYC has a higher ability to stabilize the vehicle motion compared with 4WS because the vehicle losses its stability due to deterioration of rear tire characteristics, however, 4WS has to use the deteriorated rear tire to control the vehicleMotion.
Abstract: Following to the experimental validation of the side-slip estimation by model observer, the experimental study on the effects of the side-slip control by direct yaw moment on stabilizing vehicle motion which is impaired due to nonlinear tire characteristics is carried out. A double lane change test as well as a single lane change test with braking is conducted in order to prove the effect of the control on stabilizing the vehicle motion during severe maneuvering. It is proved that the side-slip control by DYC has a higher ability to stabilize the vehicle motion compared with 4WS because the vehicle losses its stability due to deterioration of rear tire characteristics, however, 4WS has to use the deteriorated rear tire to control the vehicle motion. The side-slip control is also proved to be superior to the yaw rate control to compensate for loss of stability due to nonlinear tire characteristics.
117Â citations