Abstract
This paper describes a drive controller designed to improve the lateral vehicle stability and maneuverability of a 6-wheel drive / 6-wheel steering (6WD/6WS) vehicle. The drive controller consists of upper and lower level controllers. The upper level controller is based on sliding control theory and determines both front and middle steering angle, additional net yaw moment, and longitudinal net force according to the reference velocity and steering angle of a manual drive, remotely controlled, autonomous controller. The lower level controller takes the desired longitudinal net force, yaw moment, and tire force information as inputs and determines the additional front steering angle and distributed longitudinal tire force on each wheel. This controller is based on optimal distribution control and takes into consideration the friction circle related to the vertical tire force and friction coefficient acting on the road and tire. Distributed longitudinal/lateral tire forces are determined as proportion to the size of the friction circle according to changes in driving conditions. The response of the 6WD/6WS vehicle implemented with this drive controller has been evaluated via computer simulations conducted using the Matlab/Simulink dynamic model. Computer simulations of an open loop under turning conditions and a closed-loop driver model subjected to double lane change have been conducted to demonstrate the improved performance of the proposed drive controller over that of a conventional DYC.
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Abbreviations
- F xi :
-
longitudinal tire force [N]
- F zi :
-
vertical(normal) tire force [N]
- δ :
-
manual steering wheel angle [rad]
- F xi_des :
-
desired longitudinal tire force [N]
- ΔM z :
-
required yaw moment [Nm]
- y :
-
lateral position [m]
- γ :
-
yaw rate [rad/s]
- V x :
-
longitudinal vehicle velocity [m/s]
- Δδ f :
-
additional front steering angle [rad]
- ΔF yi :
-
additional lateral tire force [N]
- T i_c :
-
torque command (in-wheel-motor) [Nm]
- γ des :
-
desired yaw rate [rad/s]
- l f,m,r :
-
wheel base (front, middle and rear) [m]
- γ ss :
-
steady-state yaw rate [rad/s]
- m :
-
vehicle mass [kg]
- g :
-
acceleration of gravity [m/s_^2]
- c yi :
-
lateral weighting factor
- J ω :
-
wheel moment of inertia
- r i :
-
wheel radius [m]
- \( \hat \lambda \) :
-
estimated slip ratio
- C x :
-
longitudinal tire force stiffness [N]
- x :
-
longitudinal position [m]
- φ :
-
heading angle [rad]
- β :
-
side slip angle [rad]
- μ :
-
road friction coefficient
- ΔF xi :
-
additional longitudinal tire force [N]
- δ i_c :
-
steering command (steering motor) [rad]
- B i_c :
-
braking command (ESP module) [Nm]
- C f,m,r :
-
cornering stiffness [N/rad]
- k :
-
desired yaw rate calculation constant
- τ yaw :
-
desired yaw rate time constant
- a y :
-
lateral acceleration
- c xi :
-
longitudinal weighting factor
- T i :
-
input torque [Nm]
- ω :
-
estimated wheel angular accel. [rad/s_^2]
- F xi_total :
-
total longitudinal tire force [N]
- \( \hat F_{xi} \) :
-
estimated longitudinal tire force [N]
- t :
-
vehicle tread [m]
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Kim, W.G., Kang, J.Y. & Yi, K. Drive control system design for stability and maneuverability of a 6WD/6WS vehicle. Int.J Automot. Technol. 12, 67–74 (2011). https://doi.org/10.1007/s12239-011-0009-9
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DOI: https://doi.org/10.1007/s12239-011-0009-9