Vehicle Motion Stability With Two Vehicle Dynamics Models

2011 ◽  
Author(s):  
Jingliang Li ◽  
Jingang Yi
Keyword(s):  
Vehicle Dynamics ◽  
Rear Wheel ◽  
Slip Angle ◽  
State Variables ◽  
Wheel Slip ◽  
Side Slip Angle ◽  
Lateral Dynamics ◽  
Vehicle Maneuver ◽  
The Stability ◽  
Dynamics Models

We present and compare vehicle maneuver stability under two vehicle dynamics models, one with the rear tire slip angle dynamics and the other with the vehicle side slip angle dynamics. Instead of using vehicle mass center side slip angle, we consider to use rear axial slip angle as one of the state variables for studying vehicle lateral dynamics. Using rear wheel slip angle as a state variable for studying vehicle dynamics has been reported in practices in industry but not rigorously studied. We analyze the new vehicle dynamics and compare the stability results with existing reported results. Both analytical and numerical results have shown that the stability region of the vehicle dynamics by using the rear slip angle is less conservative comparing with using the vehicle side slip angle.

A study on an anti-lock braking system controller and rear-wheel controller to enhance vehicle lateral stability

2007 ◽  
Vol 221 (7) ◽  
pp. 777-787 ◽  
Author(s):  
Jeonghoon Song ◽  
Heungseob Kim ◽  
Kwangsuck Boo
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Rear Wheel ◽  
Slip Angle ◽  
Lateral Stability ◽  
Motion Controller ◽  
Wheel Slip ◽  
Stopping Distance ◽  
Braking System ◽  
The Stability

This paper presents a mathematical vehicle model that is designed to analyse and improve the dynamic performance of a vehicle. A wheel slip controller for anti-lock braking system (ABS) brakes is formulated using a sliding mode controller and a proportional-integral-derivative (PID) controller for rear wheel steering is also designed to enhance the stability, steerability, and driveability of the vehicle during transient manoeuvres. The braking and steering performances of controllers are evaluated for various driving conditions, such as straight and J-turn manoeuvres. The simulation results show that the proposed full car model is sufficient to predict vehicle responses accurately. The developed ABS reduces the stopping distance and increases the longitudinal and lateral stability of both two-and four-wheel steering vehicles. The results also demonstrate that the use of a rear wheel controller as a yaw motion controller can increase its lateral stability and reduce the slip angle at high speeds.

The Control of the Braking Stability of Active Rear Wheel Steering Vehicle Based on LQR

2013 ◽  
Vol 416-417 ◽  
pp. 909-913
Author(s):  
Qi Jia Liu ◽  
Si Zhong Chen
Keyword(s):  
Slip Rate ◽  
Linear Quadratic Regulator ◽  
Rear Wheel ◽  
Front Wheel ◽  
Slip Angle ◽  
Linear Quadratic ◽  
Wheel Slip ◽  
Side Slip Angle ◽  
Braking Distance ◽  
Lock Mode

The aim of this article is to improve the brake stability of active rear wheel steering vehicle. The optimal theory of linear quadratic regulator is used to construct a controller, and the aim of the controller is to maintain the side slip angle is zero, and the control parameter is set according to the change of velocity when braking. An antilock brake model based on the door limit of wheel slip rate is constructed. The analysis is carried on a front wheel steering vehicle, which has two kinds of unti-lock mode. Meanwhile, an active rear wheel steering vehicle with two kinds of unti-lock mode is performed, also. All tests are performed on the bisectional road. The results of analysis show that the active rear wheel steering vehicle using the anti-lock mode of four wheels independent control can give the shortest braking distance, the smaller side slip angle and the smaller deviation from the lane. So it can give more contribution to the braking safety.

Vehicle side-slip angle estimation on a banked and low-friction road

2017 ◽  
Vol 232 (12) ◽  
pp. 1584-1596 ◽  
Author(s):  
Martin Haudum ◽  
Johannes Edelmann ◽  
Manfred Plöchl ◽  
Manuel Höll
Keyword(s):  
Vehicle Dynamics ◽  
Stability Control ◽  
Velocity Estimation ◽  
Slip Angle ◽  
State Variables ◽  
Low Friction ◽  
Bank Angle ◽  
Angle Estimation ◽  
Side Slip Angle ◽  
Handling Characteristics

The effective application of integrated vehicle dynamics control and automatic driving require consistent vehicle state variables and parameters. Considering lateral vehicle dynamics, the yaw rate and (estimated) vehicle side-slip angle are the minimum set of state variables that can give insight into the handling characteristics of a vehicle. Various methods of vehicle side-slip angle (lateral velocity) estimation have been tested in virtual and real world applications, in particular on a horizontal dry road. Vehicle side-slip angle, however, is not only affected by the (steering) commands of the driver, and possibly by a vehicle dynamics controller, but can also arise from a banked road or result from a low-friction surface, changing tyre–road contact. The combined effects require a comprehensive estimation approach, which is less often touched upon in the literature. Based on earlier findings on important aspects of observability, the paper addresses a modular vehicle side-slip angle estimation approach that is particularly focused upon practical aspects of modelling and design. Estimation of the combined vehicle side-slip angle, road bank angle and maximum tyre–road friction coefficient has been broadly tested with a vehicle equipped with an electronic stability control (ESC) and electric power-assisted steering (EPS) sensor configuration, for various road conditions, driving situations and vehicle/tyre setups.

scholarly journals Design of integrated wheel slip-skid factor and vehicle side slip angle using mamdani fuzzy control

2016 ◽  
Author(s):  
Herman M. Kaharmen ◽  
Djoko Kustono ◽  
Waras Kamdi ◽  
Tuwoso ◽  
Poppy Puspitasari
Keyword(s):  
Fuzzy Control ◽  
Slip Angle ◽  
Wheel Slip ◽  
Side Slip Angle

Direct yaw-moment control of vehicles based on phase plane analysis

2021 ◽  
pp. 095440702110523
Author(s):  
Jun Liu ◽  
Jian Song ◽  
Hanjie Li ◽  
He Huang
Keyword(s):  
Control Strategy ◽  
Phase Plane ◽  
Stable Region ◽  
Slip Angle ◽  
State Variables ◽  
Side Slip Angle ◽  
Direct Yaw Moment Control ◽  
Heading Direction ◽  
Yaw Moment Control ◽  
Moment Control

In view of the problems related to vehicle-handling stability and the real-time correction of the heading direction, nonlinear analysis of a vehicle steering system was carried out based on phase plane theory. Subsequently, direct yaw-moment control (DYC) of the vehicle was performed. A four-wheel, seven-degree-of-freedom nonlinear dynamic model that included the nonlinear characteristics of the tire was established. The stable and unstable regions of the vehicle phase plane were divided, and the stable boundary model was established by analyzing the side slip angle–yaw rate ([Formula: see text]) and side slip angle–side slip angle rate [Formula: see text] phase planes as functions of the vehicle state variables. In the unstable region of the phase plane, taking the instability degree as the control target, a fuzzy neural network control strategy was utilized to determine the additional yawing moment of the vehicle required for stability restoration, which pulled the vehicle back from an unstable state to the stable region. In the stable region of the phase plane, a fuzzy control strategy was utilized to determine the additional yawing moment so that the actual state variables followed the ideal state variables. In this way, the vehicle responded rapidly and accurately to the steering motion of the driver. A simulation platform was established in MATLAB/Simulink and three working condition was tested, that is, step, sine with dwell, and sine amplification signals. The results showed that the vehicle handling stability and the instantaneous heading-direction adjustment ability were both improved due to the control strategy.

Vehicle side-slip angle estimation based on vehicle dynamics and nonlinear observers

2008 ◽  
Author(s):  
Guo Hongyan ◽  
Chen Hong ◽  
Ding Haitao ◽  
Bi Chunguang ◽  
Zhao Haiyan
Keyword(s):  
Vehicle Dynamics ◽  
Slip Angle ◽  
Angle Estimation ◽  
Side Slip Angle ◽  
Nonlinear Observers

Estimation of Steering Wheel Angle and Vehicle Lateral State from Measured Lateral Forces

2018 ◽  
Vol 39 ◽  
pp. 14-31 ◽  
Author(s):  
Fatima Ezzahra Saber ◽  
Mohamed Ouahi ◽  
Abdelmjid Saka
Keyword(s):  
Steering Wheel ◽  
Linear Matrix ◽  
Unknown Input ◽  
State Variables ◽  
Unknown Input Observer ◽  
Driver Assistance ◽  
Lateral Dynamics ◽  
Lateral Forces ◽  
Vehicle Simulator ◽  
The Stability

This paper introduces a method to estimate the lateral dynamics parameters,which are valuable to the development of more complex and powerful driver assistance system. In the assumption of measured lateral forces, three state observer methods are designed to simultaneously estimate the steering angleas unknown input and vehicle lateral state variables. The stability conditionsof such observers are derived in terms of Linear Matrix Inequalities (LMI). Simulation results through Matlab/Simulink software based on data of the CALLAS vehicle simulator is used to evaluate the performance of observersbased on Unknown Input Observer (OEI).

Rear Wheel Steering Dynamics Compared to Front Steering

1990 ◽  
Vol 112 (1) ◽  
pp. 88-93 ◽  
Author(s):  
J. C. Whitehead
Keyword(s):  
High Speed ◽  
Rear Wheel ◽  
Front Wheel ◽  
Slip Angle ◽  
Vehicle Speed ◽  
Lateral Dynamics ◽  
High Speeds ◽  
Control Response ◽  
Steady State Responses ◽  
State Responses

The lateral dynamics of rear wheel steering vehicles are examined using low order linear mathematical models. The response to rear steer angle inputs differs significantly from the front wheel steering response at low speeds. However, both the transient and steady state responses become less dependent on which wheels are steered as vehicle speed increases. This fact indicates that the unusual fixed control response does not alone cause rear wheel steering vehicles to be unsafe at high speeds. The free control instability unique to rear wheel steering vehicles is analyzed using a torque input model which treats steer angle as a degree of freedom. The cause of this unstable weave mode and the stable front wheel steering weave mode is a ratio of tire slip angle to steer angle in excess of unity during high speed cornering.

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