Evolution of Electronic Control Systems for Improving the Vehicle Dynamic Behavior
01 Jan 2002-
TL;DR: The first approach towards closed loop control of the lateral vehicle motion for active safety systems was realized by ESP (Electronic Stability Program), and estimation algorithms and model following control are used with ESP to compensate for the lack of sensors.
Abstract: Starting with ABS (Antilock Brake System) the steps towards integrated active safety systems dealing with vehicle dynamics is shown. While ABS and TCS were initially designed as open loop controllers for the lateral vehicle motion a first approach towards closed loop control of the lateral vehicle motion for active safety systems was realized by ESP (Electronic Stability Program. Estimation algorithms and model following control are used with ESP to compensate for the lack of sensors. Since 2001 ESP is available for cars with an electro hydraulic brake system. The extension of ESP in combination with active front steering is expected to enter the market in 2003.
Citations
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TL;DR: The experimental results for the GPS-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systems.
Abstract: This paper details a unique method for estimating key vehicle states-body sideslip angle, tire sideslip angle, and vehicle attitude-using Global Positioning System (GPS) measurements in conjunction with other sensors. A method is presented for integrating Inertial Navigation System sensors with GPS measurements to provide higher update rate estimates of the vehicle states. The influence of road side-slope and vehicle roll on estimating vehicle sideslip is investigated. A method using one GPS antenna that estimates accelerometer errors occurring from vehicle roll and sensor drift is first developed. A second method is then presented utilizing a two-antenna GPS system to provide direct measurements of vehicle roll and heading, resulting in improved sideslip estimation. Additionally, it is shown that the tire sideslip estimates can be used to estimate the tire cornering stiffnesses. The experimental results for the GPS-based sideslip angle measurement and cornering stiffness estimates compare favorably to theoretical predictions, suggesting that this technique has merit for future implementation in vehicle safety systems
317 citations
Cites background or methods from "Evolution of Electronic Control Sys..."
...Note that vehicle sideslip is not observable from acceleration measurements alone, but this is the predominant method used to obtain sideslip in vehicle control systems [2], [3]....
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...MANY VEHICLE control systems, such as antilock braking (ABS), stability control, and vehicle lateral control schemes, require vehicle sideslip as critical component of the control logic [1]–[3]....
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...The bicycle model has been shown to be effective for use in vehicle estimation control systems [2], [3], [29]....
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...Most vehicle electronic stability control systems require accurate knowledge of the cornering stiffness to function properly [2], [3]....
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...This fundamental lack of a sideslip angle measurement, coupled with uncertainty in the parameters needed for model-based estimation, places severe constraints on stability control algorithms and other potential vehicle dynamics control [3]....
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TL;DR: Experimental results verify that with precise steering control and accurate state information, the handling modification is exactly equivalent to changing the front tire cornering stiffness.
Abstract: While changing the handling characteristics of a conventional vehicle normally requires physical modification, a vehicle equipped with steer-by-wire can accomplish the same effect through active steering intervention. This paper presents an intuitive method for altering a vehicle's handling characteristics by augmenting the driver's steering command with full vehicle state feedback. The vehicle can be made more or less responsive depending on the driver's preference and particular operating conditions. Achieving a smooth, continuous change in handling quality requires both accurate state estimation and well-controlled steering inputs from the steer-by-wire system. Accurate estimates of vehicle states are available from a combination of global positioning system (GPS) and inertial navigation system (INS) sensor measurements. By canceling the effects of steering system dynamics and tire disturbance forces, the steer-by-wire system is able to track commanded steer angle with minimal error. Experimental results verify that with precise steering control and accurate state information, the handling modification is exactly equivalent to changing the front tire cornering stiffness.
239 citations
Cites background from "Evolution of Electronic Control Sys..."
...Stability control systems currently available on production cars typically derive slip rate from sensor integration or a physical vehicle model, but these estimation methods are prone to uncertainty [11]....
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TL;DR: In this paper, an autonomous racing controller is designed to gain insights into vehicle control at the friction limits, using a bicycle model and a g-g diagram to mimic racecar drivers' internal vehicle model.
Abstract: Racecar drivers have the ability to operate a vehicle at its friction limit without losing control. If autonomous vehicles or driver assistance systems had similar capabilities, many fatal accidents could be avoided. To advance this goal, an autonomous racing controller is designed to gain insights into vehicle control at the friction limits. A bicycle model and a ‘ g-g ’ diagram are used to mimic racecar drivers’ internal vehicle model. Lanekeeping steering feedback and wheel slip feedback controllers are used to imitate drivers making steering and throttle corrections according to the vehicle responses. Experimental results on a low friction surface demonstrate that the controller can robustly track a path while operating at the limits of tyre adhesion and provide insights for the future development of vehicle safety systems.
175 citations
TL;DR: A model-based estimation method that utilizes pneumatic trail information in steering torque to identify a vehicle's lateral handling limits, which are defined by the tire slip angle and peak lateral force limits is presented.
Abstract: Knowledge of the vehicle's lateral handling limits is important for vehicle control systems which aim to enhance vehicle handling and passenger safety. This paper presents a model-based estimation method that utilizes pneumatic trail information in steering torque to identify a vehicle's lateral handling limits, which are defined by the tire slip angle and peak lateral force limits. This method uses measurements available on many current production vehicles. Most importantly, it takes advantage of the early friction information encoded in the tire pneumatic trail. Pneumatic trail decreases as a function of the tire parameters even in the linear handling region, enabling early detection of the limits before they are reached. Experimental results on an independent front steering steer-by-wire research vehicle demonstrate the observer's ability to provide accurate real-time estimates of tire slip angle up to the limits of handling. Testing conditions include maneuvers performed on dry, flat paved road, as well as on lower-friction, dry gravel.
164 citations
Cites background from "Evolution of Electronic Control Sys..."
...board systems had accurate knowledge of sideslip angle (and therefore tire slip angle) and could predict the peak lateral force limits, control systems could anticipate rather than react to loss of control situations, further enhancing vehicle handling and increasing passenger safety [7]....
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...As a result of this limited information, production stability control systems rely on detecting a difference between intended and actual vehicle yaw rate before the system can intervene [6], [7]....
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22 Nov 2016
TL;DR: The term Intelligent Transport Systems refers to any technology applied to transport and infrastructure to transfer information between systems, and to transport users, for improved safety, efficiency and environmental outcomes.
Abstract: The term Intelligent Transport Systems (ITS) refers to any technology applied to transport and infrastructure to transfer information between systems, and to transport users, for improved safety, efficiency and environmental outcomes. This is a fast evolving field that includes stand-alone applications such as traffic management systems, information and warning systems installed in individual vehicles, as well as applications involving vehicle to infrastructure and vehicle to vehicle communications. Many ITS applications combine some or all of the above with Smartphone applications and GPS devices to enable transport users to make informed decisions.
162 citations
References
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TL;DR: In this paper, a new method of analysis was developed for determining yaw moment and side force of the vehicle with a parameter of the side slip angle at the center of gravity when its center-of-gravity point was fixed.
Abstract: SUMMARY This paper deals with a study to theoretically formulate an effective method of improving vehicle performance, particularly, its characteristics in the nonlinear region, and to verify the feasibility of the proposed method by calculations and examinations. In order to analyze vehicle characteristics in the nonlinear region, a new method of analysis was developed for determining yaw moment and side force of the vehicle with a parameter of the side slip angle at the center of gravity when its center of gravity point was fixed. The study with this new method found that direct yaw moment control by proper distribution of traction and braking forces on the right and left tires could provide a very effective means of stabilizing vehicle characteristics, specifically for acceleration and deceleration, and enlarging the limit of vehicle maneuverability.
304 citations
01 Jan 1994
TL;DR: In this paper, the potential for the enhancement of the vehicle stability in critical cornering with the application for a direct yaw moment control system is also presented, taking into account the vehicle side slip angle and angular velocity as the state variables.
Abstract: This paper presents discussions on the vehicle cornering stability in critical cornering, using the "Phase-Plane Method" which takes into account the vehicle side slip angle and its angular velocity as the state variables. In addition, the potential for the enhancement of the vehicle stability in critical cornering with the application for a direct yaw moment control system is also presented.
202 citations
"Evolution of Electronic Control Sys..." refers background in this paper
...angular velocity at zero steering angle (source: [6])...
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...Inagaki [6] has shown the inherent instability of the vehicle motion for certain combinations of the slip angle and its velocity (Fig....
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01 Jan 1996
140 citations
"Evolution of Electronic Control Sys..." refers methods in this paper
...The observer is based on a full four wheel model of the car and uses two dynamic equations, one for the yaw velocity and the other for the lateral velocity of the car ([15])....
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...Slip is controlled by the brake slip and traction slip controllers as described in [15]....
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...Specifically, the HSRI tire model as described in [15] is used which allows for a simple relation between the lateral and the longitudinal force....
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01 Jan 1994
TL;DR: In this article, a vehicle dynamics control system (FDRF) is presented, which is a new aktives Fahrsicherheitssystem einfuehren.
Abstract: Nach der Serieneinfuehrung von ABS und ABS/ASR wird Bosch 1995 mit der Fahrdynamikregelung FDR ein neues aktives Fahrsicherheitssystem einfuehren. FDR gibt dem Fahrer nicht nur verbesserte ABS- und ASR-Grundfunktionen in laengsdynamisch kritischen Situationen bei Vollbremsung und Beschleunigung, sondern auch aktive Unterstuetzung bei querdynamisch kritischen Situationen. Das System verbessert die Fahrstabilitaet in allen Betriebszustaenden, das heisst bei Voll- und Teilbremsung, Freirollen, Antrieb, Schub und Lastwechsel, sobald der fahrdynamische Grenzbereich erreicht wird. Das Fahrverhalten entspricht auch im Grenzbereich dem Erfahrungshorizont des Fahrers und ist damit vorhersehbar. Das neue FDR-System reduziert selbst bei extremen Lenkmanoevern die Schleudergefahr drastisch und ermoeglicht auch in kritischen Verkehrssituationen weitgehend die sichere Beherrschung des Automobils. Diese Vorteile lassen erwarten, dass FDR einen wesentlichen Beitrag zur Unfallvermeidung und Schadensbegrenzung leisten wird. Titel in Englisch: VDC - The Vehicle Dynamics Control system of Bosch.
89 citations