An adaptive control system is proposed for a four-wheel steering vehicle, which consists of a friction coefficient estimator, a feedforward compensator and a yaw rate feedback system. The control system has been developed so that the vehicle lateral characteristics should be set suitable even on slippery roads and in critical driving situations. A friction coefficient between tire and road surface is estimated in real-time from the yaw rate response using the method of least squares. The adaptive feedforward compensator minimizes the steady-state and transient vehicle slip angle in spite of changes of road conditions. The yaw rate feedback system, which incorporates a linear compensator with a nonlinear adaptive vehicle model, realizes the desired motion under the influence of disturbances and the existence of the estimation error.
Adaptive yaw rate feedback 4WS with friction coefficient estimator between tire and road surface
Ein adaptives Fahrzeuglenksystem mit der Schätzung des Reibungskoeffizienten, mit einer Störgrößenaufschaltung und mit einer Giergeschwindigkeitsrückkopplung
1996
11 Seiten, 12 Bilder, 5 Quellen
Conference paper
English
Adaptive yaw rate feedback 4WS with friction coefficient estimator between tire and road surface
Automotive engineering | 1996
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British Library Conference Proceedings | 1996
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Online Contents | 1997
|Adaptive yaw rate feedback 4WS with tire/road friction coefficient estimator
Automotive engineering | 1997
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Tema Archive | 1997
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