TY - GEN
T1 - Vehicle yaw motion control based on front-wheel lateral force tracking
AU - Ku, Yu An
AU - Hsiao, Te-Sheng
AU - Chen, Yu Yuan
N1 - Publisher Copyright:
© 2015 American Automatic Control Council.
PY - 2015/7/28
Y1 - 2015/7/28
N2 - This paper presents a vehicle yaw motion control scheme based on the front-wheel lateral force tracking method. The proposed control scheme consists of a yaw rate controller, an active front steering (AFS) controller, and a tire force estimator. The yaw rate controller calculates the front-wheel yaw moment that is required for the vehicle to follow the reference yaw rate. Then the desired front-wheel yaw moment is converted to the front lateral tire force command and sent to the AFS controller. The AFS controller acquires tire force feedback from the tire force estimator, and compensates for the nonlinearity and uncertainties of the tire dynamics, as well as variations of road conditions to accurately and robustly track the force command from the yaw rate controller. In case that the desired lateral tire force exceeds its physical limit, the AFS controller turns to stabilize the tire slip angle, instead of following the unachievable force command, to prevent the vehicle from skidding. Simulations are carried out and the results verify the satisfactory performance of the proposed control scheme.
AB - This paper presents a vehicle yaw motion control scheme based on the front-wheel lateral force tracking method. The proposed control scheme consists of a yaw rate controller, an active front steering (AFS) controller, and a tire force estimator. The yaw rate controller calculates the front-wheel yaw moment that is required for the vehicle to follow the reference yaw rate. Then the desired front-wheel yaw moment is converted to the front lateral tire force command and sent to the AFS controller. The AFS controller acquires tire force feedback from the tire force estimator, and compensates for the nonlinearity and uncertainties of the tire dynamics, as well as variations of road conditions to accurately and robustly track the force command from the yaw rate controller. In case that the desired lateral tire force exceeds its physical limit, the AFS controller turns to stabilize the tire slip angle, instead of following the unachievable force command, to prevent the vehicle from skidding. Simulations are carried out and the results verify the satisfactory performance of the proposed control scheme.
KW - active front steering
KW - lateral tire force tracking
KW - yaw motion control
UR - http://www.scopus.com/inward/record.url?scp=84940947717&partnerID=8YFLogxK
U2 - 10.1109/ACC.2015.7171865
DO - 10.1109/ACC.2015.7171865
M3 - Conference contribution
AN - SCOPUS:84940947717
T3 - Proceedings of the American Control Conference
SP - 3453
EP - 3458
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 American Control Conference, ACC 2015
Y2 - 1 July 2015 through 3 July 2015
ER -