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Anti-lock and also Anti-slip braking system controller designed for stability enhancement of vehicle during braking and turning circumstances is presented. Using available signals, a novel structure is proposed for vehicle stability improvement encountering critical braking conditions such as braking on slippery or μ-split road surfaces. In conventional vehicles, undesired lane changes may occur due...
Since the longitudinal, lateral, and yaw dynamics of front steering vehicles are represented by nonlinear coupled equations, it is not easy to derive the explicit nonlinear controller of both steering angle and driving force for the perfect path-following control. In this paper, a novel and robust sliding mode controller for vehicles with coupled full dynamic model is presented. Comparing with the...
Vehicle is a complex uncertain system with parameter perturbations and external disturbances; these uncertainties will easily result in the loss of vehicle driving stability. Tire cornering stiffness is a key influencing factor on maneuverability of vehicle. In order to maintain driving stability in vehicle cornering, through regarding tire cornering stiffness and outer disturbances as bounded uncertain...
In the paper a methodology of robust tyre-force estimation for heavy duty vehicles using higher order sliding mode observers is developed. For this goal yaw-roll model is used. The main on-board sensors are provided through the CAN-bus of the vehicle, but low-cost sensors are added. The approach is validated by comparing the estimation results to those given by the software vehicle dynamics PROSPER.
In road transport domain, the use of state dynamics observation/estimation and parametric identification techniques are necessary for control diagnosis. Unfortunately, the use of different methods of observations/estimation and parametric identification is not without risk. This risk can be observed in term of accumulation of errors which can be considerable and more still, on the level of the total...
A lane following system is proposed that employs four constrained wheel torques to regulate a vehicle on a reference trajectory. The proposed control algorithm was developed by combining several techniques such as: DYC method, hierarchical control architecture, sliding mode controls, control distributions, and etc. Different from existing approaches, the proposed method has the following advantages:...
In this work we derive steady-state cornering conditions for a single-track vehicle model without restricting the operation of the tires to their linear region (i.e. allowing the vehicle to drift). For each steady-state equilibrium we calculate the corresponding tire friction forces at the front and rear tires, as well as the required front steering angle and front and rear wheel longitudinal slip,...
ABS and TPMS is a technology measure enhanced automobile active safety performance. Nowadays the ABS system and the TPMS system are mutually independent and ABS system has standard configuration, while TPMS is increasingly increased and rising, so the article proposed a merged thought between the two kind of systems, which is essential to develop automobile electronic control systems integration....
Antilock braking system (ABS) is an important part to improve the automobile's active safety. In general, ABS is designed to achieve maximum negative acceleration by preventing the wheels from locking. Researches show that the friction between road and tire is a nonlinear function of wheel slip. In this paper, to deal with the strong nonlinearity in the design of ABS controller, a variable structure...
This paper discusses an integrated vehicle control and vehicles states estimations. The non linear observer, based on sliding mode approach is presented for estimation of the vehicle states. The considered technique is applied to the estimation problem for automated vehicles operating as two vehicles following. The integrated control consists of second order sliding mode, based on twisting algorithm...
Road traffic statistics have shown that multi-event crashes typically result in a higher death toll than single-event crashes. One type of those multi-event crashes could be a crash where the initial harmful event leads to a loss of directional control of the vehicle. In this work, we study countermeasures during such crashes, namely, vehicle stabilization in response to exogenous impulsive disturbances...
An algorithm for direct yaw-moment control based on sliding-mode variable structure control theory is proposed in this paper to enhance the handling stability of an electric vehicle with two independent motors equipped at the rear axles. The controller is designed according to the two degrees-of-freedom linear vehicle model and using yaw rate and sideslip angle as the control variables. Yaw moment...
This paper presents a feedforward and feedback optimal sliding mode control design of active vehicle suspension system for quarter-car model with two-degree-of freedom. In some given conditions, the random road surface input firstly is formulated as the output variables of an exosystem. Then, by regarding some state variables of the suspension system as virtual control, the optimal sliding mode which...
This paper proposes a vehicle stability control (VSC) scheme for a four-wheel-drive electric vehicle based on the control allocation techniques. The wheels of the electric vehicle are driven by the electric motor individually, which makes it more convenient to control tires forces and moments for stabilizing vehicle motion. But the over-actuated system is complex to control. The control allocation...
The state variables and parameters about the movement of vehicle is needed for the vehicle stability control (VSC) system, such as tyre force estimation. The tyre force is estimated by using sliding mode observer and the adhesion limit condition is considered in this paper. Comparison of simulation results between extended Kalman filter and sliding mode observer are done.The simulation results show...
As a key of high capability mobile platform, wheel independent-drive control is studied by using the dynamic tire LuGre friction model and active disturbance rejection control (ADRC) method. Firstly, the wheel independent-drive mathematic model was given and the dynamic tire LuGre friction model was briefly introduced. Then the control objective was analyzed, and the control system structure and the...
Approaches to estimate friction forces and vehicle states are presented in this paper. Firstly, based on the dynamical equations of the wheels, the estimates of the longitudinal friction forces are achieved by means of sliding mode unknown input estimation technique. Secondly, using the longitudinal friction forces estimated and the nonlinear relation between lateral and longitudinal friction force...
Longitudinal control of platoons of vehicles is appropriate to improve the traffic capacity of road networks while maintaining safety distances between vehicles. This paper investigate the possibility of reducing the number of accidents involving pedestrians or other vulnerable road users, like cyclists and motorcyclists, by providing the control systems of the vehicles of the platoon with some collision...
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