This paper proposes a new vehicle stability control method that quantifies and uses the level of lateral force saturation on each axle/wheel of a vehicle. The magnitude of the saturation, which can be interpreted as a slip-angle deficiency, is determined from on-line estimated nonlinear tire lateral forces and their linear projections that use estimates of the cornering stiffness. Once known, the saturation levels are employed in a saturation balancing control structure that biases the drive torque to either the front or rear axles/wheels with the goal of minimizing excessive under- or over-steer, thereby stabilizing the vehicle. The method is particularly suited for a vehicle with an independent wheel drive system. Furthermore, the method can be used in conjunction with a direct yaw-moment controller to obtain enhanced stability and responsiveness. The benefits of the proposed approach are demonstrated considering a nominally unstable, high c. g. heavy military vehicle in an extreme obstacle-avoidance type maneuver.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Saturation Balancing Control for Enhancing Dynamic Stability of Vehicles with Independent Wheel Drives


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE 2011 World Congress & Exhibition ; 2011



    Publication date :

    2011-04-12




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Saturation balancing control for enhancing dynamic stability of vehicles with independent wheel drives

    Sill,J.H. / Ayelew,B. / Clemson Univ.,US | Automotive engineering | 2011


    2011-01-0982 Saturation Balancing Control for Enhancing Dynamic Stability of Vehicles with Independent Wheel Drives

    Sill, J.H. / Ayalew, B. / Society of Automotive Engineers | British Library Conference Proceedings | 2011


    A saturation-balancing control method for enhancing dynamic vehicle stability

    Sill,J. / Ayalew,B. / Clemson Univ.,US | Automotive engineering | 2013