Vehicle handling and stability performances can be improved efficiently by vehicle stability control (VSC) system. Most of the studies about VSC mainly focus on the yaw moment controller design by single wheel braking. However, little attention has been paid on the realisation of the brake force of the selected single wheel to improve the reliability. In this paper, a novel VSC scheme is proposed, which is realised by coordinating the slips of the two wheels on the same side simultaneously to improve the reliability especially on the slippery road where the desired brake force may be difficult to generate. The proposed control scheme is a three-level structure. The first level is the yaw moment controller, which is described in detail in the previous published work and is not presented here any longer. The second level is referred to the brake force distributor. In this level, a novel brake force distribution scheme is designed to distribute the desired brake force to the two wheels on the same side simultaneously to enhance the reliability especially in slippery road conditions. The third level is related to the wheel slip regulator. In this level, a sliding mode regulator is designed to force the wheel to track the reference slip ratio calculated from the second level of brake force distributor. Simulations are carried out on an 8-DOF non-linear vehicle model constructed in the environment of Matlab/Simulink to validate the proposed control scheme. Two manoeuvres those are single lane change and step input steering with the initial longitudinal velocity of 30 m/s and 22 m/s, respectively, are examined on both the dry road and the slippery road with the adhesion coefficient of 0.9 and 0.4, respectively. The simulation results demonstrate that the proposed control scheme can keep the vehicle cornering stably in critical situations by distributing the desired brake force to the two wheels on the same side simultaneously and can generally track the reference slip ratio to avoid the wheel lock case caused by the low adhesion road condition. Experimentations will be followed in the next investigation to test and improve the control scheme further. In the first step, Hardware-in-the-Loop Simulation (HILS) in the Lab should be conducted to check and regulate the control law in the Electronic Control Unit (ECU). After that, field test will be implemented with the manoeuvres in simulations to evaluate the controller comprehensively including in the extreme driving conditions such as much high or low temperature and low atmospheric pressure.
Improvements in vehicle handling and stability by a novel wheel slip coordination control scheme
Verbesserungen der Fahrzeughandhabung und -stabilität durch ein neues Radschlupf-Regelungsverfahren
International Journal of Vehicle Design ; 62 , 2-4 ; 206-230
2013
25 Seiten, 21 Bilder, 2 Tabellen, 23 Quellen
Article (Journal)
English
Improvements in vehicle handling and stability by a novel wheel slip coordination control scheme
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