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Managing axle saturation for vehicle stability control with independent wheel drives | IEEE Conference Publication | IEEE Xplore

Managing axle saturation for vehicle stability control with independent wheel drives


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...Show More

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.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: San Francisco, CA, USA

References

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