Journal
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY
Volume 14, Issue 1, Pages 53-60Publisher
KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
DOI: 10.1007/s12239-013-0007-1
Keywords
Velocity-dependent yaw control; Velocity-dependent side-slip control; Direct yaw moment control; Electronic stability controller
Funding
- second phase BK21 project
- Korea Research Foundation [2009-0073906]
- National Research Foundation of Korea [2009-0073906] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Most conventional vehicle stability controllers operate on the basis of many simplifying assumptions, such as a small steering wheel angle, constant longitudinal velocity and a small side-slip angle. This paper presents a new approach for controlling the yaw rate and side-slip of a vehicle without neglecting its longitudinal dynamics and without making simplifying assumptions about its motion. A sliding-mode controller is used to develop a differential braking controller for tracking a desired vehicle yaw rate for a given steering wheel angle, while keeping the vehicle's side-slip angle as small as possible. The trade-off that exists between yaw rate and side-slip control is described. Conventional and proposed algorithms are presented, and the effectiveness of the proposed controller is investigated using a seven-degree-of-freedom vehicle dynamics model. The simulation results demonstrate that the proposed controller is more effective than the conventional one.
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