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Integrated chassis control with AFS, ARS and ESC under lateral force constraint on AFS

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Abstract

This paper presents an integrated chassis control with active front steering (AFS), active rear steering (ARS) and electronic stability control (ESC) under lateral force constraint on front wheels. The control yaw moment is calculated using sliding mode control. A weighted pseudo-inverse-based control allocation (WPCA) is used for yaw moment distribution. On low-friction road, AFS has little effect on control performance since the lateral tire forces of front wheels are easily saturated. To overcome the problem, the lateral force generated by AFS is limited to its maximum, and the braking force of ESC and the angle of ARS, obtained from WPCA, are applied. To check the effectiveness of the proposed method, simulation was performed on the vehicle simulation package, CarSim. From simulation, it was verified that the proposed method can enhance the maneuverability and lateral stability, if the lateral forces on front wheels are saturated.

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Abbreviations

a y :

Lateral acceleration (m/s2)

C f, C r :

Cornering stiffness of front/rear tires (N/rad)

F yf , F yr :

Lateral tire forces of front and rear wheels (N)

F yfc, F yrc :

Lateral tire force generated by AFS and ARS (N)

F xi :

Longitudinal tire forces generated by ESC (N)

g :

Gravitational constant (= 9.81 m/s2)

H, D :

Effectiveness matrix in WPCA

I z :

Yaw moment of inertial (kg·m2)

K γ :

Gain in sliding mode control

K B :

Pressure–force constant (N·m/MPa)

l f, l r :

Distance from C.G. to front and rear axles (m)

m :

Vehicle total mass (kg)

ΔM B, ΔM N :

Control yaw moment (Nm)

P B :

Brake pressure of ESC (MPa)

x, y :

Vector of tire forces in WPCA

r w :

Radius of a wheel (m)

t f, t r :

Track width of front and rear axles (m)

v x, v y :

Longitudinal and lateral velocities of a vehicle (m/s)

V :

Vehicle speed (m/s)

W, V :

Weighting matrix in WPCA

α f, α r :

Tire slip angles of front and rear wheels (rad)

β :

Side-slip angle (rad)

ε :

Weight on a particular tire force in WPCA

δ f, δ r :

Front and rear steering angles (rad)

Δδ f :

Corrective steering angle of AFS (rad)

γ, γ d :

Real and reference yaw rates (rad/s)

η :

Tuning parameters on yaw rate error and side-slip angle

μ :

Tire–road friction coefficient

ρ :

Vector of variable weights in WPCA

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Acknowledgements

This study was supported by Seoul National University of Science and Technology.

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Authors and Affiliations

  1. Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul, 01811, Korea

    Seongjin Yim & Young Hee Jo

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  1. Seongjin Yim
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  2. Young Hee Jo
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Correspondence to Seongjin Yim.

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Yim, S., Jo, Y.H. Integrated chassis control with AFS, ARS and ESC under lateral force constraint on AFS. JMST Adv. 1, 13–21 (2019). https://doi.org/10.1007/s42791-019-0014-0

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