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http://dx.doi.org/10.3795/KSME-A.2017.41.2.111

Performance Improvement of Integrated Chassis Control with Determination of Rear Wheel Steering Angle  

Yim, Seongjin (Dept. of Mechanical and Automotive Engineering, Seoul Nat'l Univ. of Sci. and Tech.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.41, no.2, 2017 , pp. 111-119 More about this Journal
Abstract
This paper presents a method to determine the rear steering angle in integrated chassis control with electronic stability control (ESC) and rear wheel steering (RWS). A control yaw moment needed to stabilize a vehicle should be distributed into the tire forces generated by the ESC and RWS. Weighted pseudo-inverse control allocation (WPCA) is adopted to determine the tire forces. Four methods are proposed to calculate the rear wheel steering angle. To validate the proposed methods, a simulation is performed using a vehicle simulation software package, CarSim. The simulation results show that the proposed method for determining the rear wheel steering angle improves the performance of the integrated chassis control.
Keywords
Integrated Chassis Control; Electronic Stability Control; Rear Wheel Steering; Weighted Pseudo-inverse Control Allocation; Lateral Tire Force Model;
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