• Title/Summary/Keyword: Active Steering Control

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DEVELOPMENT OF AN ACTIVE FRONT STEERING SYSTEM

  • Kim, S.J.;Kwak, B.H.;Chung, S.J.;Kim, J.G.
    • International Journal of Automotive Technology
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    • v.7 no.3
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    • pp.315-320
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    • 2006
  • We have developed an active front steering system(AFS) with a planetary gear train, which can vary the steering gear ratio according to the vehicle speed and improve vehicle stability by superimposing steering angle. We conducted vehicle tests showing that co-operated control of AFS with ESP can improve vehicle stability by direct control of tire slip angle and that steering reaction torque during AFS intervention can be compensated by torque compensation using electric power steering.

Development of a Lane Departure Avoidance System using Vision Sensor and Active Steering Control (비전 센서 및 능동 조향 제어를 이용한 차선 이탈 방지 시스템 개발)

  • 허건수;박범찬;홍대건
    • Transactions of the Korean Society of Automotive Engineers
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    • v.11 no.6
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    • pp.222-228
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    • 2003
  • Lane departure avoidance system is one of the key technologies for the future active-safety passenger cars. The lane departure avoidance system is composed of two subsystems; lane sensing algorithm and active-steering controller. In this paper, the road image is obtained by vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active-steering controller is designed to prevent the lane departure. The developed active-steering controller can be realized by steer-by-wire actuator. The lane-sensing algorithm and active-steering controller are implemented into the steering HILS(Hardware-In-the-Loop Simulation) and their performance is evaluated with a human driver in the loop.

MPC-based Active Steering Control using Multi-rate Kalman Filter for Autonomous Vehicle Systems with Vision (비젼 기반 자율주행을 위한 다중비율 예측기 설계와 모델예측 기반 능동조향 제어)

  • Kim, Bo-Ah;Lee, Young-Ok;Lee, Seung-Hi;Chung, Chung-Choo
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.61 no.5
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    • pp.735-743
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    • 2012
  • In this paper, we present model predictive control (MPC) applied to lane keeping system (LKS) based on a vision module. Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may result in uncomfortable steering control rate in a high vehicle speed. By applying MPC using multi-rate Kalman filter to active steering control, the proposed MPC-based active steering control system prevents undesirable saturated steering control command. The effectiveness of the MPC is validated by simulations for the LKS equipped with a camera module having a slow sampling rate on the curved lane with the minimum radius of 250[m] at a vehicle speed of 30[m/s].

Integrated Dynamics Control System for SUV with Front Brake Force and Front Steering Angle (전륜 제동력 및 전륜 조향각을 이용한 SUV 차량의 통합운동제어시스템 개발)

  • Song, Jeonghoon
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.21 no.5
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    • pp.22-27
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    • 2022
  • An integrated front steering system and front brake system (FSFB) is developed to improve the stability and controllability of an SUV. The FSFB simultaneously controls the additional steering angle and front brake pressure. An active front steering system (AFS) and an active front brake system (AFB) are designed for comparison. The results show that the FSFB enhances the lateral stability and controllability regardless of road and running conditions compared to the AFS and AFB. As a result, the yaw rate of the SUV tracks the reference yaw rate, and the side slip angle decreases. In addition, brake pressure control is more effective than steering angle control in improving the stability and steerability of the SUV on a slippery road. However, this deteriorates comfort on dry or wet asphalt.

EVALUATION OF FOUR-WHEEL-STEERING SYSTEM FROM THE VIEWPOINT OF LANE-KEEPING CONTROL

  • Raksincharoensak, P.;Mouri, H.I;Nagai, M.I
    • International Journal of Automotive Technology
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    • v.5 no.2
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    • pp.69-76
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    • 2004
  • This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.

Active steering Control Based on The Estimated Tire Forces (추정된 타이어 힘을 이용한 능동 조향 제어)

  • Seo, Chan-Won;Kim, Jun-Yeong;Hong, Dae-Geon;Heo, Geon-Su
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.9 s.180
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    • pp.2228-2234
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    • 2000
  • Steering of the vehicles on a slippery highway is a difficult task for most passenger car drivers. The steering vehicles on slippery roads tend to slide outward with less lateral forces than on nor mal roads. When the drivers notice that their vehicles on a slippery highway start to depart from the cornering lane, most of them make a sudden steering and/or braking, which in turn may induce spin-out and instability on their vehicles. In this paper, an active steering control method is proposed such that the vehicles in slippery roads are steered as if they are driven on the normal roads. In the proposed method, the estimated lateral forces acting on the steering tires are compared with the reference values and the difference is compensated by the active steering method. A fuzzy logic controller is designed for this purpose and evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering performance results on the slippery curved and sinus roads demonstrate the effectiveness of the proposed controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

Wheelset Steering Control for Improvement a Running Safety on Curved Track (곡선부 주행안전성 향상을 위한 윤축 조향 제어)

  • Hur, Hyun Moo;Ahn, Da Hoon;Kim, Nam Po;Sim, Kyung Seok;Park, Tae Won
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.9
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    • pp.759-764
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    • 2014
  • Lateral force of wheel is important parameter when we evaluate the safety of a railway vehicle on curved track. The lateral force of wheel is influenced by the steering performance of wheelsets. Generally, in passive type vehicles, the steering performance of wheelsets is influenced by the parameters like primary spring stiffness, wheel base, conicity of the wheel profile, etc. But, the steering performance of passive type vehicle has its limit. To overcome the limit of the steering performance of passive type vehicle, active steering technology is being developed. In this paper, we analyze the lateral force of wheel and the safety of the railway vehicle on curved track by adopting the active steering technology. As results of dynamic analysis for vehicle model equipped with active steering system, the lateral force of wheel is reduced and the safety is improved remarkably.

Development of an Integrated Control System between Active Front Wheel System and Active Rear Brake System (능동전륜조향장치 및 능동후륜제동장치의 통합제어기 개발)

  • Song, Jeong-Hoon
    • Transactions of the Korean Society of Automotive Engineers
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    • v.20 no.6
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    • pp.17-23
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    • 2012
  • An integrated dynamic control (IDCF) with an active front steering system and an active rear braking system is proposed and developed in this study. A fuzzy logic controller is applied to calculate the desired additional steering angle and desired slip of the rear inner wheel. To validate IDCF system, an eight degree of freedom, nonlinear vehicle model and a sliding mode wheel slip controller are also designed. Various road conditions are used to test the performance. The results show that the yaw rate of IDCF vehicle followed the reference yaw rate and reduced the body slip angle, compared with uncontrolled vehicle. Thus, the IDCF vehicle had enhanced lateral stability and controllability.