Vehicle stability enhancement — an adaptive optimal approach to the distribution of tyre forces

Abstract

In this paper, vehicle stability enhancement, based on the integrated vehicle control notion, is presented. A new method for adaptive optimal distribution of braking and lateral tyre forces is employed. The control inputs considered are the individual wheel steering and braking for each wheel. Since a unique set of tyre forces satisfying control objectives cannot be easily determined, an adaptive optimization problem subjected to two equality and four inequality constraints has been solved to achieve an optimal solution. A proper adaptation mechanism is suggested to minimize the negative effects of direct yaw moment control, such as the undesirable decrease in the total speed of the vehicle. The effectiveness of the proposed vehicle stability enhancement system, especially online balancing of tyre forces in an optimal form with and without an adaptation mechanism, is demonstrated through digital simulations. A comprehensive non-linear vehicle dynamics model is utilized for simulation purposes. The results indicate that the proposed control system can effectively utilize the tyres' frictional forces and significantly improve the vehicle stability and handling performances.

Keywords

vehicle dynamics stability integrated chassis control adaptive optimal distribution tyre forces

Get full access to this article

View all access options for this article.

References

Tagawa

Ogata

Morita

Nagai

Mori

‘Robust active steering system taking account of nonlinear dynamics.’

Veh. System Dynamics 25 (996): 668–681

Park

T. J.

Han

C. S.

Lee

S. H.

‘Development of the electronic control unit for the rack-actuating steer-by-wire using the hardware-in-the-loop simulation system.’

Mechatronics 15 (2005): 899–918

Shibahata

‘Progress and future direction of chassis control technology.’

A. Rev. Control 29 (2005): 151–158

Rajamani

Vehicle dynamics and control, (Springer, New York 2006).

Nagai

Hirano

Yamanaka

‘Integrated control of active rear wheel steering and direct yaw moment control.’

Veh. System Dynamics 27 (1997): 357–370

Zheng

Tang

Han

Zhang

‘Controller design for vehicle stability enhancement.’

Control Engng Practice 14 (2006): 1413–1421

Mokhiamar

Abe

‘Simultaneous optimal distribution of lateral tire forces for the model following control.’

Trans. ASME, J. Dynamic Systems, Measmt, Control 126 (2004): 753–763

Yoo

You

S.-H.

Kim

Lee

K. I.

‘Optimal integration of active 4 wheel steering and direct yaw moment control.’. In Proceedings of the 11th IFAC Symposium on Control in transportation systems, Delft, The Netherlands, 29–31 August 2006, Vol. 11, part 1 (Curran Associates, Red Hook, New York).

Tjoennas

Johansen

T. A.

‘Adaptive optimizing dynamic control allocation algorithm for yaw stabilization of an automotive vehicle using brakes.’ In Proceedings of the 14th Mediterranean Conference on Control and automation (MED ‘06), Ancona, Italy, 28–30 June 2006, paper MED.2006 328748, p. 6 (IEEE, New York).

10.

Dugoff

Fancher

P. S.

Segal

‘Tyre performance characteristics affecting vehicle response to steering and braking control inputs.’ Final Report (Contract CST-460), Office of Vehicle Systems Research, US National Bureau of Standards, Washington, DC, USA, 1969.

11.

Wong

J. Y.

Theory of ground vehicles, 2nd edition, (John Wiley, New York 1993).

12.

Ellis

J. R.

Vehicle handling dynamics, (Mechanical Engineering Publications Limited, London 1994)

13.

Slotine

J.-J. E.

Applied nonlinear control, (Prentice-Hall, Englewood Cliffs, New Jersey 1991).

14.

Rao

S. S.

Engineering optimization, 3rd edition, (John Wiley, New York 1996)

15.

Allen

R. W.

Rosenthal

T. J.

Szostak

H. T.

‘Steady state and transient analysis of ground vehicle handling.’ SAE paper 870495, 1987, pp. 482–512.