Enhancement of vehicle stability based on coordinated active rear steering and additional yaw moment

Ping Wang; Xiaodong Ding; Jiamei LinYongqiang ZhaoJun Li

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Enhancement of vehicle stability based on coordinated active rear steering and additional yaw moment

机译：Enhancement of vehicle stability based on coordinated active rear steering and additional yaw moment

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摘要

To improve the handling and manoeuvrability of four-wheel steer (4WS) and in-wheel motor-driven electric vehicle (EV) under critical conditions, a coordinated control method combining active rear-wheel steering (ARS) and additional yaw moment control in the form of additional drive torque distribution is proposed. Considering the nonlinear properties of tyre force, a nonlinear model predictive controller (NMPC) is designed to track the desired yaw rate and constrain the sideslip angle. Meanwhile, the actuator and security constraints are satisfied effectively. Finally, the control performance is investigated by cosimulation with MATLAB/Simulink and CarSim. The results show that the vehicle longitudinal and lateral stability are both efficiently enhanced under extreme conditions.

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来源
《International journal of system control and information processing》 |2021年第4期|293-306|共14页
作者
Ping Wang; Xiaodong Ding; Jiamei LinYongqiang ZhaoJun Li;
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作者单位

Department of Control Science and Engineering, Jilin University;

State Key Laboratory of Automotive Simulation and Control, Jilin University;

College of Automotive Engineering, Jilin UniversitySchool of Vehicle and Mobility, Tsinghua University;

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原文格式 PDF
正文语种英语
中图分类自动化技术、计算机技术;
关键词
Critical conditions; Four-wheel steer; Vehicle stability control; Avtive rear wheel steering; Additional yaw moment; Integrated vehicle dynamics system; Electric vehicles; NMPC; Nonlinear model predictive control; Vehicle active safety;

Enhancement of vehicle stability based on coordinated active rear steering and additional yaw moment

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