Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2015.15.0001

Unified Chassis Control with ESC and AFS under Lateral Tire Force Constraint on AFS  

Yim, Seongjin (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
Nam, Gi Hong (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
Lee, Ho Seok (Department of Automotive Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.7, 2015 , pp. 595-601 More about this Journal
Abstract
This paper presents an unified chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. When generating the control yaw moment, an optimization problem is formulated in order to determine the tire forces, generated by ESC and AFS. With Karush-Kuhn-Tucker optimality condition, the optimum tire forces can be algebraically calculated. On low friction road, the lateral force in front wheels is easily saturation. When saturated, AFS cannot generate the required control yaw moment. To cope with this problem, new constraint on the lateral tire force is added into the original optimization problem. To check the effectiveness of the propose method, simulation is performed on the vehicle simulation package, CarSim.
Keywords
Electronic Stability Control (ESC); Active front steering (AFS); Unified Chassis Control (UCC); lateral force saturation;
Citations & Related Records
연도 인용수 순위
  • Reference
1 A. T. van Zanten, R. Erhardt, G. Pfaff, F. Kost, U. Hartmann, and T. Ehret, "Control aspects of the bosch-VDC," Proc. of International Symposium on Advanced Vehicle Control, Aachen, Germany, pp. 573-608, 1996.
2 National Highway Traffic Safety Administration, "Federal Motor Vehicle Safety Standards; Electronic Stability Control Systems; Controls and Displays," NHTSA-2007-27622, 2007.
3 W. Klier, G. Reimann, and W. Reinelt, "Concept and functionality of the active front steering system," SAE 2004-21-0073, 2004.
4 Y. Hirano and K. Fukatani, "Development of robust active rear steering control," Proc. of the International Symposium on Advanced Vehicle Control, pp. 359-376, 1996.
5 S. Motoyama, H. Uki, K. Isoda, and H. Yuasa, "Effect of traction force distribution on vehicle dynamics," Proc. of International Symposium on Advanced Vehicle Control, Yokohama, Japan, pp. 447-451, 1992.
6 W. Cho, J. Yoon, J. Kim, and K. Yi, "Development of a unified chassis control system for vehicle stability and maneuverability," Proc. of International Symposium on Advanced Vehicle Control, pp. 565-570, 2008.
7 W. Cho, J. Yoon, J. Kim, J. Hur, and K. Yi, "An investigation into unified chassis control scheme for optimised vehicle stability and maneuverability," Vehicle System Dynamics, vol. 46, Supplement, pp. 87-105, 2008.   DOI
8 O. Mokhiamar and M. Abe, "Simultaneous optimal distribution of lateral and longitudinal tire forces for the model following control," ASME Journal of Dynamic Systems, Measurement, and Control, vol. 126, pp. 753-763, 2004.   DOI
9 S. Yim, J. Choi, and K. Yi, "Coordinated control of hybrid 4WD vehicles for enhanced maneuverability and lateral stability," IEEE Transactions on Vehicular Technology, vol. 61, no. 4, pp. 1946-1950, 2012.   DOI
10 J. Wang and R. G. Longoria, "Coordinated vehicle dynamics control with control distribution," Proc. of the 2006 American Control Conference, Minnesota, USA, pp. 5348-5353, 2006.
11 Mechanical Simulation Corporation, CarSim User Manual, Version 5, 2001.
12 R. Rajamani, Vehicle Dynamics and Control, New York, Springer, 2006.
13 K. Uematsu and J. C. Gerdes, "A comparison of several sliding surfaces for stability control," Proc. of International Symposium on Advanced Vehicle Control, Japan, 2002.
14 A. Y. Ungoren and H. Peng, "Evaluation of vehicle dynamic control for rollover prevention," International Journal of Automotive Technology, vol. 5, no. 2, pp. 115-122, 2004.