An Integrated Chassis Control Method for Vehicle Stability under Various Road Friction Conditions

Paper #:
  • 2018-01-0552

Published:
  • 2018-04-03
Abstract:
This paper presents an integrated chassis control method for vehicle stability under various road friction conditions without tire-road friction coefficient. The vehicle with an integrated chassis control needs to cope with maneuver under the various road friction conditions. One of the chassis control method under various road conditions is to determine and/or limit control inputs based on tire-road friction coefficient. The tire-road friction coefficient, however, is difficult to estimate and still a challenging task. The key idea for the proposed method without the estimation of the tire-road friction coefficient is to analyze and control vehicle states based on a tire slip angle and tire force phase plane, i.e. based on these vehicle responses : tire forces and tire slip angles of front/rear wheels, vehicle instability under various road conditions is detected and the vehicle is controlled to regain the vehicle stability and maneuverability. The proposed algorithm consists of two sequential parts: Supervisor part and Chassis control part. The supervisor detects the vehicle instability based on the tire slip angle and tire force phase plane. Based on this information, the supervisor determines the desired motion to make the vehicle stable. The chassis control part decides a virtual control input, desired yaw moment. For tracking the desired yaw moment, the optimal coordination of the chassis control part optimally allocates the virtual control input to each chassis module. The proposed algorithm has been investigated through computer simulations under various road setting. The simulation results show that the proposed control method well copes with maneuver on the various road conditions.
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