DocumentCode :
2858996
Title :
Managing axle saturation for vehicle stability control with independent wheel drives
Author :
Sill, J.H. ; Ayalew, B.
Author_Institution :
Int. Center for Automotive Res., Clemson Univ., Greenville, SC, USA
fYear :
2011
fDate :
June 29 2011-July 1 2011
Firstpage :
3960
Lastpage :
3965
Abstract :
This paper proposes a new stability control method that quantifies and uses the level of lateral force saturation on each axle of a vehicle featuring an independent wheel drive system. The magnitude of the saturation, which can be interpreted as a slip-angle deficiency, is determined from estimated nonlinear axle lateral forces and comparisons with linear projections that use estimates of the cornering stiffness. Once known, the per-axle saturation levels are employed in a saturation balancing control structure that biases the drive/brake torque to either the front or rear axles with the goal of minimizing excessive under- or over-steer. The approach is then combined with a direct yaw-moment controller to obtain enhanced stability and responsiveness. The benefits of the proposed approach are demonstrated for a nominally unstable vehicle in an extreme obstacle avoidance type maneuver.
Keywords :
axles; collision avoidance; drives; elasticity; mechanical stability; slip; torque control; vehicle dynamics; wheels; axle saturation management; cornering stiffness; direct yaw-moment controller; drive-brake torque; independent wheel drive system; lateral force saturation; obstacle avoidance type maneuver; saturation balancing control structure; slip-angle deficiency; vehicle stability control method; Axles; Stability analysis; Tires; Torque; Vehicle dynamics; Vehicles; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
ISSN :
0743-1619
Print_ISBN :
978-1-4577-0080-4
Type :
conf
DOI :
10.1109/ACC.2011.5991515
Filename :
5991515
Link To Document :
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