Towards predictive yaw stability control (original) (raw)
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Generalized predictive control of yaw dynamics of a hybrid brake-by-wire equipped vehicle
Mechatronics, 2005
Yaw stability of an automotive vehicle in a steering maneuver is critical to the overall safety of the vehicle. In this paper we present a theoretical development and experimental results of a vehicle yaw stability control system based on generalized predictive control (GPC) method. The controller tries to predict the future yaw rate of the vehicle and then takes control action at present time based on future yaw rate error. The proposed controller utilizes the insight into the yaw rate error growth when the automobile is in an understeer or oversteer condition on a low friction coefficient surface in a handling maneuver. A hybrid brake-by-wire equipped vehicle was used to experimentally verify the proposed control algorithm. Experimental results show that the predictive feature of the proposed controller provides an effective way to control the yaw stability of a vehicle.
Vehicle Yaw Control Via Coordinated Use of Steering/braking Systems
Proceedings of the 18th IFAC World Congress, 2011
The aim of this paper is to present a novel methodology that deals with steering/braking coordination task for vehicle yaw control. For steerability enhancement, only active steering control is involved. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. Judging the vehicle stability region is deduced from the phase-plane of the sideslip angle and its time derivative. The coordination of the steering/braking actuators is achieved through a suitable gain scheduled LP V (Linear Parameter Varying) controller. The controller is synthesized within the LM I (Linear Matrix Inequalities) framework, while warranting H ∞ performances. The simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various driving situations.
Jordan Journal of Electrical Engineering, 2023
Accidents during critical maneuvering on roads while overtaking or changing lanes are mainly due to the insufficient generation of the stability matrices of vehicles, including yaw rate. The parameters responsible for stable operation of the vehicle during these driving scenarios may vary, causing improper steering angle input actuation to the vehicle, due to which the desired yaw rate is not generated. To overcome this problem, corrective yaw moments are applied to the yaw dynamics to generate the desired yaw rate and operate the vehicle within the defined stability limit. Therefore-in this paper-to improve the yaw stability of the vehicle, a novel yaw rate gradient-based control approach is proposed for a linear time-varying (LTV) bicycle model. A 2 degrees of freedom bicycle model with the linear approximation for low slip angles in the magic formula tire model is utilized to develop the LTV model. The longitudinal velocity and friction coefficient are chosen as the parameters of interest to be varied during model simulation. Two different critical driving scenarios, including a sine maneuver and a double lane change, are chosen as input actuation with and without corrective yaw moments. The obtained simulation results unveil that, by the application of steering angle with a corrective yaw moment, the yaw stability has effectively been improved by obtaining a feasible adaptive model predictive control solution. Additionally, the root mean square error (RMSE) is calculated to evaluate the performance of the proposed methodology. A RMSE of 0.0768 and 0.0395 for steering without corrective yaw moment (CYM) is decreased to 0.0234 and 0.0214 for sine and double lane change steering input with CYM, respectively. Moreover, the proposed methodology is compared with previous methods and found to have better yaw stability.
IFAC World Congress, …, 2005
Yaw stability control is an important aspect of road vehicle active safety and comfort systems. Yaw stability control can be based on steering or individual wheel braking as the means of actuation for generating the required corrective yaw moments. This paper uses a model regulator based yaw stability controller that combines and coordinates steering and individual wheel braking for improved performance. The key contribution of the paper is the application of this combined actuation controller to a realistic road vehicle model created in a commonly used multi-body dynamics simulation program. The performance achieved by the proposed controller is demonstrated through several simulations.
Lane Departure Warning Estimation Using Yaw Acceleration
Open Engineering, 2020
Lane departure collisions have contributed to the traffic accidents that cause millions of injuries and tens of thousands of casualties per year worldwide. Due to vision-based lane departure warning limitation from environmental conditions that affecting system performance, a model-based vehicle dynamics framework is proposed for estimating the lane departure event by using vehicle dynamics responses. The model-based vehicle dynamics framework mainly consists of a mathematical representation of 9-degree of freedom system, which permitted to pitch, roll, and yaw as well as to move in lateral and longitudinal directions with each tire allowed to rotate on its axle axis. The proposed model-based vehicle dynamics framework is created with a ride model, Calspan tire model, handling model, slip angle, and longitudinal slip subsystems. The vehicle speed and steering wheel angle datasets are used as the input in vehicle dynamics simulation for predicting lane departure event. Among the simu...
Nonlinear Model Predictive Control using Lyapunov Functions for Vehicle Lateral Dynamics
IFAC-PapersOnLine, 2016
The purpose of this paper is the development of a nonlinear model based predictive control strategy for the autonomous control of the steering system for ground vehicles. The control system is aimed to automatically steer the vehicle along a desired trajectory. The developed strategy uses control Lyapunov functions to guarantee the stability of the closed-loop control system. In order to obtain reliable results, a nonlinear vehicle dynamic model is used in the design phase of the controller. The model incorporates the tire-ground contact nonlinearities and describes with higher accuracy the real vehicle dynamics. The proposed approach is validated using simulation results and it is shown that this approach could provide good performances in practical use.
Design and simulation of an integrated active yaw control system for road vehicles
International Journal of Vehicle Design, 2010
Active vehicle safety systems for road vehicles play an important role in accident prevention. In recent years, rapid developments have been observed in this area with advancing technology and electronic control systems. Active yaw control is one of I would like to state my appreciation to Murat Şahin for his patient support and pleasant friendship, Emir Kutluay for his useful advises and company at every part of the study, Görkem Oktay and Hakan Temizsoy for their abundantly helpful and enjoyable attitude throughout this thesis. After all these years, I have got quite a bunch of friends in the department, which I cannot stop without stating my appreciation to all of them. Also, financial support of TÜBĐTAK is also gratefully acknowledged. My endless thankfulness goes to my friend Zeynep Erdoğan, who has stimulated and supported me with patience and wisdom. Without her, this study would never finish. My last, but not the least, thanks go to my valuable family. They have endlessly supported, guided and protected me in all stages of my life. I can never imagine a life without their love and dedication. x
Control Predictivo basado en modelo de un vehículo de pasajeros para cambios de carril automatizados
2017
This article presents a nonlinear Model Predictive Control (MPC) for lane changes, based on a simplified Single Track Model (STM) of the vehicle. The STM includes the position of the vehicle in global coordinates as a state so that the position of the target lane can be specified to the MPC for reference tracking. Moreover, a constraint for maintaining a safety distance with the vehicles in the target lane is included. Simulation results show the effectiveness of the MPC in scenarios with different initial conditions that demonstrate the correct implementation of the safety distance constraint.
An intelligent approach to the lateral forces usage in controlling the vehicle yaw rate
Asian Journal of Control, 2011
A direct yaw moment control system (DYC) is designed to improve the handling and stability of a four-wheel-drive electric vehicle. The main task of this paper is to use the lateral forces in the process of optimally controlling vehicle stability. This is performed by defining a variable optimum region for the slip ratio of each wheel. A hierarchical structure is selected to design the control system. The higher-level control system controls the yaw rate of the vehicle based on the fuzzy logic technique. The lower-level control system, installed in each wheel, maintains the slip ratio of the same wheel within an optimum region using the fuzzy logic technique. This optimum region for each wheel is continuously modified based on the impact of the lateral force on the generated control yaw moment and the friction coefficient of the road. Therefore, an algorithm for estimation of the friction coefficient is proposed. Computer simulations are carried out to investigate the effectiveness of the proposed method. This is accomplished by comparison of the results of control methods with a fixed slip ratio region and the results of the proposed method with a variable slip ratio region in some maneuvers. The robustness of the proposed controller against hard braking and noise contamination, as well as the effect of steering wheel angle amplitude, is verified. The simulation results show that the influence of the proposed method on enhancing vehicle performance is significant.