A novel manoeuvre stability controller based on vehicle state prediction and intellectual braking torque distribution

Zhang, L; Wu, Y; Li, B; Zhang, B; Zhang, N

A novel manoeuvre stability controller based on vehicle state prediction and intellectual braking torque distribution

Zhang, L Wu, Y Li, B Zhang, B Zhang, N

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Publisher:: SAGE Publications
Publication Type:: Journal Article
Citation:: Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering, 2020, 234, (1), pp. 136-151
Issue Date:: 2020-01-01

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Field	Value	Language
dc.contributor.author	Zhang, L
dc.contributor.author	Wu, Y
dc.contributor.author	Li, B
dc.contributor.author	Zhang, B
dc.contributor.author	Zhang, N https://orcid.org/0000-0001-6408-0044
dc.date.accessioned	2020-10-18T20:43:20Z
dc.date.available	2020-10-18T20:43:20Z
dc.date.issued	2020-01-01
dc.identifier.citation	Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering, 2020, 234, (1), pp. 136-151
dc.identifier.issn	0954-4070
dc.identifier.issn	2041-2991
dc.identifier.uri	http://hdl.handle.net/10453/143349
dc.description.abstract	© IMechE 2019. This paper proposes an innovative hierarchical direct yaw moment control strategy consisting of upper, middle and lower controllers. In the upper layer, a linear quadratic regulator metric based on current side-slip angle and predicted yaw rate is established to generate the controlled yaw moment. The middle layer determines the actuating tyre forces and allocates the required longitudinal forces for each tyre according to the current tyre–road contact condition. Furthermore, the desired longitudinal slip ratios for each tyre are calculated in the middle layer. Finally, a suitable brake pressure is achieved by the sliding mode controller in the lower layer. The simulation results of sine with dwell and double lane change verify the effectiveness of the proposed method. Compared with a traditional direct yaw moment control strategy that preferentially brakes the priority wheel, the proposed novel strategy is able to keep the longitudinal force of the tyre working in a linear region and has better robustness response when the tyre–road contact condition encounters sudden change.
dc.language	en
dc.publisher	SAGE Publications
dc.relation	University of Technology SydneyILSRG
dc.relation	http://purl.org/au-research/grants/arc/DP0773415
dc.relation	University of Technology Sydney
dc.relation.ispartof	Proceedings of the Institution of Mechanical Engineers Part D: Journal of Automobile Engineering
dc.relation.isbasedon	10.1177/0954407019845717
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0902 Automotive Engineering, 0913 Mechanical Engineering
dc.title	A novel manoeuvre stability controller based on vehicle state prediction and intellectual braking torque distribution
dc.type	Journal Article
utslib.citation.volume	234
utslib.for	0902 Automotive Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney
utslib.copyright.status	closed_access	*
pubs.consider-herdc	true
dc.date.updated	2020-10-18T20:43:11Z
pubs.issue	1
pubs.publication-status	Published
pubs.volume	234
utslib.citation.issue	1

Abstract:

© IMechE 2019. This paper proposes an innovative hierarchical direct yaw moment control strategy consisting of upper, middle and lower controllers. In the upper layer, a linear quadratic regulator metric based on current side-slip angle and predicted yaw rate is established to generate the controlled yaw moment. The middle layer determines the actuating tyre forces and allocates the required longitudinal forces for each tyre according to the current tyre–road contact condition. Furthermore, the desired longitudinal slip ratios for each tyre are calculated in the middle layer. Finally, a suitable brake pressure is achieved by the sliding mode controller in the lower layer. The simulation results of sine with dwell and double lane change verify the effectiveness of the proposed method. Compared with a traditional direct yaw moment control strategy that preferentially brakes the priority wheel, the proposed novel strategy is able to keep the longitudinal force of the tyre working in a linear region and has better robustness response when the tyre–road contact condition encounters sudden change.

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http://hdl.handle.net/10453/143349