• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.12
• /
• pp.997-1003
• /
• 2016

This paper presents an application of adaptive algorithms for yaw moment distribution with electronic stability control (ESC) and active rear steering (ARS) in integrated chassis control (ICC). Integrated chassis control consists of upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control required to stabilize a vehicle. In the lower-level controller, adaptive algorithms are applied to determine the required brake pressure of ESC and the necessary steering angle of ARS, in order to generate the control yaw moment. Simulation is performed using the vehicle simulation package CarSim to validate the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.1
• /
• pp.103-111
• /
• 2016

This paper presents an adaptive variable weights tuning system for an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) for lateral stability enhancement. After calculating the control yaw moment needed to stabilize a vehicle with a controller design method, it is distributed into the tire forces generated by ESC and AFS using weighted pseudo-inverse-based control allocation (WPCA). On a low friction road, lateral stability can deteriorate due to high vehicle speed. To cope with the problem, adaptive tuning rules on variable weights of the WPCA are proposed. To check the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, CarSim.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.9
• /
• pp.1373-1378
• /
• 2017

This paper presents a basic ECU(Electronic Control Unit) hardware development procedure for the functional safety of in-vehicle network systems. We consider complete hardware redundancy as a safety mechanism for in-vehicle communication network under the assumption of the wired network failure such as disconnection of a CAN bus. An ESC (Electronic Stability Control) system is selected as an item and the required ASIL(Automotive Safety Integrity Level) for this item is assigned by performing the HARA(Hazard Analysis and Risk Assessment). The basic hardware architecture of the ESC system is designed with a microcontroller, passive components, and communication transceivers. The required ASIL for ESC system is shown to be satisfied with the designed safety mechanism by calculation of hardware architecture metrics such as the SPFM(Single Point Fault Metric) and the LFM(Latent Fault Metric).

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.11
• /
• pp.1291-1297
• /
• 2014

This paper proposes integrated chassis control (ICC) with electronic stability control (ESC) and active rear steering (ARS). Direct yaw moment control is used to generate a control yaw moment. A weighted pseudo-inverse-based control allocation (WPCA) method is adopted to distribute the control yaw moment into tire forces, generated by ESC and ARS. Simulation-based tuning of variables weights in the WPCA is used to enhance the yaw moment distribution performance. Simulations using the vehicle simulation software $CarSim^{(R)}$ show that the proposed ICC is effective in improving maneuverability and lateral stability.

• Journal of Auto-vehicle Safety Association
• /
• v.5 no.1
• /
• pp.37-43
• /
• 2013

This paper describes an investigation into coordinated control of electronic stability control (ESC) and active roll control system (ARS). The coordinated control is suggested to improve the vehicle stability and agility features by yaw rate control. The proposed integrated chassis control algorithm consists of a supervisor, control algorithms, and a coordinator. The supervisor monitors the vehicle status and determines desired vehicle motions such as a desired yaw rate and desired roll motion based on control modes to improve vehicle stability. According to the corresponding the desired vehicle dynamics, the control algorithm calculated a desired yaw moment and desired roll moment, respectively. Based on the desired yaw moment and the desired roll moment, the coordinator determines the brake pressures and the ARC motor torques based on control strategies. Closed loop simulations with a driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy using CarSim vehicle dynamics software and the integrated controller coded using Matlab/Simulink.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.2
• /
• pp.111-119
• /
• 2017

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.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.5
• /
• pp.527-534
• /
• 2015

This paper presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. The control yaw moment is calculated using a sliding mode control. The tire forces generated by ESC and AFS are determined using weighted pseudo-inverse based control allocation (WPCA) in order to generate the control yaw moment. On a low friction road, AFS is not effective when the lateral tire forces of front wheels are easily saturated. To solve problem, the lateral force of AFS is limited to its maximum and the braking of ESC is applied with WPCA. To evaluate the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, $CarSim^{(R)}$. From the simulation, it was verified that the proposed method could enhance the maneuverability and lateral stability if the lateral force of AFS exceeds its maximum.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.1132-1137
• /
• 2007

This paper describes a Unified Chassis Control (UCC) strategy to prevent vehicle rollover by integrating individual modular chassis control systems such as Electronic Stability Control (ESC) and Continuous Damping Control (CDC). The UCC threshold is determined from a rollover index computed by estimated roll angle, roll rate and measured lateral acceleration. A direct yaw moment control method is used to design the ESC based on a 2-D bicycle model. Similarly, the CDC is designed based on a 2-D roll model using a direct roll moment control method. The performance of the proposed UCC scheme is investigated and compared to that of modular chassis controllers through computer simulations using a validated vehicle simulator. It is shown that the proposed the UCC can lead to improvements in vehicle stability and efficient actuation of chassis control systems.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.23 no.6
• /
• pp.633-641
• /
• 2015

The ROM (roll over mitigation) system is a next-generation suspension system that can improve vehicle-driving stability and ride comfort. Currently, mass-produced safety systems, such as ESC (electronic stability control) and ECS (electronic control suspension), enable measurements of longitudinal and lateral acceleration as well as yaw rate through inertial sensor clusters, but they lack direct measurements of the roll angle. Therefore, in this paper, a roll angle estimation algorithm from ESC system sensors and tire normal force has been proposed. Furthermore, this study presents a method for roll over mitigation force distribution between the front and rear of a ROM system. Performance and reliability of the roll angle estimation and roll over mitigation force distribution were investigated through simulations. The simulation results showed that the proposed control algorithm and strategy are reliable during vehicle rollovers.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.10
• /
• pp.1448-1453
• /
• 2015

In this paper, we propose an alternative method of communication to improve the reliability of in-vehicle networks by jointly using wireless communication networks. Wired Communication networks have been used in vehicles for the monitoring and the control of vehicle motion, however, the disconnection of wires or hardware fault of networks may cause a critical problem in vehicles. If the network manager detects a disconnection or faults in wired in-vehicle network like the Controller Area Network(CAN), it can redirect the communication path from the wired to the wireless communication like the Zigbee network. To show the validity and the effectiveness of the proposed in-vehicle network architecture, we implement the Electronic Stability Control(ESC) system as ECU-In-the-Loop Simulation(EILS) and verify that the control performance can be kept well even if some hardware faults like disconnection of wires occur.