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

Abstract

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.

Keywords

vehicle model anti-lock braking system (ABS)sliding mode wheel slip control PID rear wheel control yaw motion controller (YMC)four-wheel steering (4WS)two-wheel steering (2WS)

Get full access to this article

View all access options for this article.

References

Allen

R. W.

Rosenthal

T. J.

Requirements for vehicle dynamics simulation models. SAE paper 940175, 1994.

Demerly

J. D.

Youcef-Toumi

Non-linear analysis of vehicle dynamics (NAVDyn): A reduced order model for vehicle handling analysis. SAE paper 2000–01-1621, 2000.

Kazemi

Hamedi

Javadi

A new sliding mode controller for four wheel anti-lock brake system (ABS). SAE paper 2000–01-1639, 2000.

Drakunov

Ozguner

Dix

Ashrafi

ABS control using optimum search via sliding modes. IEEE Trans. Control Systems Technol., 1995, 3 (1), 79–85.

Bang

M. S.

Lee

S. H.

Han

C. S.

Machiuca

D. B.

Hedrick

J. K.

Performance enhancement of a sliding mode wheel slip controller by the yaw moment control. Proc. Instn Mech. Engrs, Part D: J. Automobile Engineering, 2001, 215, 455–468.

Ikushima

Sawase

A study on the effects of the active yaw moment control. SAE paper 950303, 1995.

Sano

Furukawa

Four wheel steering system with rear wheel steering angle controlled as a function of steering wheel angle. SAE paper 860625, 1986.

Siahkalroudi

V. N.

Naraghi

Model reference tracking control of a 4WS vehicle using single and dual steering strategies. SAE paper 2002–01-1590, 2002.

Vehicle dynamics terminology, 1978, SAE J670e (Society of Automobile Engineers, Warrendale, PA).

10.

Song

Boo

Lim

A study on the performances of hybrid type electric brake system (in Korean). Trans. Korean Soc. Mech. Engrs A, 2003, 27 (9), 1492–1498.

11.

Smith

D. E.

Starkey

J. M.

Effects of model complexity on the performance of automated vehicle steering controllers; model development, validation and comparison. Vehicle System Dynamics, 1995, 24, 163–181.

12.

Wong

J. Y.

Theory of ground vehicles, 3rd edition, 2001 (Wiley, Chichester).

13.

Dugoff

Fancher

P. S.

Segel

An analysis of tyre traction properties and their influence on vehicle dynamic performance. SAE paper 700377, 1970.

14.

Maallej

A. Y.

Guenther

D. A.

Ellis

J. R.

Experimental development of tyre force and moment models. Int. J. Veh. Des., 1989, 10 (1), 34–51.