Lateral Stability Control of Four-wheel Steering Vehicles

2019 ◽  
Author(s):  
Gaojian Cui ◽  
Xiaoqiang Shang ◽  
Zeng Li ◽  
Fanghu Ning ◽  
Xiaodong Wu
Keyword(s):  
Stability Control ◽  
Lateral Stability

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.

Attack-Resilient Lateral Stability Control for Four-Wheel-Driven EVs Considering Changed Driver Behavior Under Cyber Threats

2021 ◽  
pp. 1-1
Author(s):  
Lulu Guo ◽  
Bowen Yang ◽  
Jin Ye ◽  
Javad Mohammadpour Velni ◽  
Wenzhan Song
Keyword(s):  
Driver Behavior ◽  
Stability Control ◽  
Lateral Stability ◽  
Cyber Threats

Simultaneous path following and lateral stability control of 4WD-4WS autonomous electric vehicles with actuator saturation

2019 ◽  
Vol 128 ◽  
pp. 46-54 ◽  
Author(s):  
Te Chen ◽  
Long Chen ◽  
Xing Xu ◽  
Yingfeng Cai ◽  
Xiaoqiang Sun
Keyword(s):  
Electric Vehicles ◽  
Actuator Saturation ◽  
Path Following ◽  
Stability Control ◽  
Lateral Stability ◽  
Autonomous Electric Vehicles

Vehicle Lateral Motion Control Based on Estimated Stability Regions

2017 ◽  
Author(s):  
Yiwen Huang ◽  
Yan Chen
Keyword(s):  
Measurement Errors ◽  
Local Stability ◽  
Stability Region ◽  
Control Method ◽  
Linearization Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Shortest Distance ◽  
The Stability ◽  
Yaw Moment

This paper presents a novel vehicle lateral stability control method based on an estimated lateral stability region on the phase plane of vehicle yaw rate and lateral speed, which is obtained through a local linearization method. Since the estimated stability region does not only describe vehicle local stability, but also define the oversteering and understeering characteristics, the proposed control method can achieve both local stability and vehicle handling stability. Considering the irregular geometric shape of the estimated stability region, a stability analysis algorithm is designed to determine the distance between vehicle states and stability region boundaries. State estimation or measurement errors are also incorporated in the distance calculation. Based on the calculated shortest distance between vehicle states and stability boundaries, a direct yaw moment controller is designed to maintain vehicle states stay within the stability region. CarSim® and Simulink® co-simulation is applied to verify the control design through a cornering maneuver. The simulation results show that the proposed control method can make the vehicle stay within the stability region successfully and thus always operate in a safe manner.

Stability Regions of Vehicle Lateral Dynamics: Estimation and Analysis

2020 ◽  
Vol 143 (5) ◽  
Author(s):  
Yiwen Huang ◽  
Wei Liang ◽  
Yan Chen
Keyword(s):  
Load Transfer ◽  
Equilibrium Points ◽  
Longitudinal Velocity ◽  
Linearization Method ◽  
Stability Control ◽  
Stable Operation ◽  
Lateral Stability ◽  
Ground Vehicles ◽  
Stability Regions ◽  
Road Friction

Abstract A new method is proposed to estimate and analyze the vehicle lateral stability region, which provides a direct and intuitive demonstration for the safety and stability control of ground vehicles. Based on a four-wheel vehicle model and a nonlinear two-dimensional (2D) analytical LuGre tire model, a local linearization method is applied to estimate the vehicle lateral stability regions by analyzing the vehicle stability at each operation point on a phase plane, which includes but not limited to the equilibrium points. As the collections of all the locally stable operation points, the estimated stability regions are conservative because both vehicle and tire stability are simultaneously considered, which are especially important for characterizing the stability features of highly/fully automated ground vehicles (AGV). The obtained lateral stability regions can be well explained by the vehicle characteristics of oversteering and understeering in the context of vehicle handling stability. The impacts of vehicle lateral load transfer, longitudinal velocity, tire-road friction coefficient, and steering angle on the estimated stability regions are presented and discussed. To validate the correctness of the estimated stability regions, a case study by matlab/simulink and CarSim® co-simulation is presented and discussed.

Lateral Stability Control Design for Tractor Semitrailer Based on Virtual Prototyping

2010 ◽  
Vol 118-120 ◽  
pp. 728-732
Author(s):  
Shu Wen Zhou ◽  
Si Qi Zhang ◽  
Guang Yao Zhao
Keyword(s):  
High Speed ◽  
Virtual Prototyping ◽  
Control Design ◽  
Stability Control ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Lateral Stability ◽  
Analysis Model ◽  
Vehicle Model ◽  
Yaw Rate

Tractor semitrailers on high speed obstacle avoidance under emergency are likely to arise rollover or jack-knifing, which are serious risks for motorists. A dynamic stability analysis model of a three-axle tractor semitrailer vehicle is developed using the application tool. The linearized vehicle model is utilized to predict the dynamics state of the tractor semitrailer built in multibody dynamics simulation software. The lateral stability simulation for yaw rate following and anti-rollover has been performed on the dynamic model based on virtual prototyping. The results show that the lateral stability control based on tractor semitrailer proposed in this paper can stabilize the tractor semitrailer, rollover and jack-knifing can be prevented to a large extent.

scholarly journals Lateral Stability Control of 4WD Vehicle considering Ride Performance

2015 ◽  
Vol 6 (0) ◽  
pp. 742520-742520
Author(s):  
J. Hu ◽  
B. Huo ◽  
Z. Yang ◽  
H. Liu
Keyword(s):  
Stability Control ◽  
Lateral Stability
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