This contribution deals with a model-based vehicle dynamics control concept. Thereby, a modular control structure is designed by introducing the following layers: the lateral dynamics control, the control allocation, and the wheel control. The interfaces between these layers are realized by means of clear physical variables and allow efficient interaction with other control systems, as e.g. the anti-lock braking system. In this contribution a detailed discussion of the control design and of the experimental results will be given. Practically notable are on the one hand the excellent control performance, allowing to precisely maintain the desired body side-slip angle, and on the other hand the straightforward control tuning, both achieved by using only the standard ESP-hardware.
Model-based design of lateral vehicle dynamics control
2008
16 Seiten, 10 Bilder, 15 Quellen
Conference paper
English
Model-based supervision and control of lateral vehicle dynamics
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