Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Yaw Moment Control Algorithm based on Estimated Vehicle Mass for Manual-Shift Commercial Vehicles

질량 추정기 기반 수동 변속 상용차용 요 모멘트 제어 알고리즘

  • 김자유 (서울대학교 차량 동역학 및 제어 연구실) ;
  • 차현수 (서울대학교 차량 동역학 및 제어 연구실) ;
  • 박관우 (서울대학교 차량 동역학 및 제어 연구실) ;
  • 이경수 (서울대학교 차량 동역학 및 제어 연구실)
  • Received : 2020.11.06
  • Accepted : 2021.11.18
  • Published : 2022.06.30
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Abstract

This paper presents a yaw moment control based on estimated mass for manual-shift commercial vehicles. In yaw moment controller, parameter uncertantiy of vehicle mass is important because the desired yaw moment depends on vehicle parameter. However, in the case of commercial vehicle, the weight of the loaded vehicle is more than twice as much as compared to the unloaded vehicle. The proposed algorithm estimates the vehicle mass by using the longitudinal dynamic and gear shifting characteristics. The estimated mass is used to adaptively modify the vehicle parameters. In addition, this paper estimates the chamber pressure of a pneumatic brake and generates the target yaw moment through on/off valve control. MATLAB/Simulink and Trucksim were performed under sine with dwell test. The results demonstrate that the proposed algorithm improves the lateral and rollover stability.

Keywords

Acknowledgement

본 연구는 국토교통부 도심도로 자율협력주행 안전·인프라 연구 사업의 연구비지원(과제번호 19PQOW-B152473-01) )에 의해 수행되었습니다.

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