Integrated vehicle dynamics control via coordination of active front steering and rear braking
This paper investigates the coordination of active front steering and rear braking in a driver-assist system for vehicle yaw control. The proposed control system aims at stabilizing the vehicle while achieving a desired yaw rate. During normal driving situations, active steering control is involved...
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| Published in | European journal of control Vol. 19; no. 2; pp. 121 - 143 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Philadelphia
Elsevier Ltd
01.03.2013
Elsevier Limited Elsevier |
| Subjects | |
| Online Access | Get full text |
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| Abstract | This paper investigates the coordination of active front steering and rear braking in a driver-assist system for vehicle yaw control. The proposed control system aims at stabilizing the vehicle while achieving a desired yaw rate. During normal driving situations, active steering control is involved for steerability enhancement. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. The coordination of these actuators is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller. The controller is synthesized within the LMI (Linear Matrix Inequalities) framework, while warranting robust H∞ performances. Time and frequency simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various critical driving situations. |
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| AbstractList | This paper investigates the coordination of active front steering and rear braking in a driverassist system for vehicle yaw control. The proposed control system aims at stabilizing the vehicle while achieving a desired yaw rate. During normal driving situations, active steering control is involved for steerability enhancement. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. The coordination of these actuators is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller. The controller is synthesized within the LMI (Linear Matrix Inequalities) framework, while warranting robust Hinf performances. Time and frequency simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various critical driving situations. This paper investigates the coordination of active front steering and rear braking in a driver-assist system for vehicle yaw control. The proposed control system aims at stabilizing the vehicle while achieving a desired yaw rate. During normal driving situations, active steering control is involved for steerability enhancement. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. The coordination of these actuators is achieved through a suitable gain scheduledLPV(Linear Parameter Varying) controller. The controller is synthesized within theLMI(Linear Matrix Inequalities) framework, while warranting robustH∞performances. Time and frequency simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various critical driving situations. This paper investigates the coordination of active front steering and rear braking in a driver-assist system for vehicle yaw control. The proposed control system aims at stabilizing the vehicle while achieving a desired yaw rate. During normal driving situations, active steering control is involved for steerability enhancement. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. The coordination of these actuators is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller. The controller is synthesized within the LMI (Linear Matrix Inequalities) framework, while warranting robust H∞ performances. Time and frequency simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various critical driving situations. |
| Author | Doumiati, Moustapha Dugard, Luc Sename, Olivier Gaspar, Peter Martinez-Molina, John-Jairo Szabo, Zoltan |
| Author_xml | – sequence: 1 givenname: Moustapha surname: Doumiati fullname: Doumiati, Moustapha email: moustapha.doumiati@gmail.com organization: Gipsa-Lab UMR CNRS 5216, Control Systems Department, 11 rue des Mathématiques, BP46, 38402 Saint Martin d'Hères, France – sequence: 2 givenname: Olivier surname: Sename fullname: Sename, Olivier email: Sename.Olivier@gipsa-lab.grenoble-inp.fr organization: Gipsa-Lab UMR CNRS 5216, Control Systems Department, 11 rue des Mathématiques, BP46, 38402 Saint Martin d'Hères, France – sequence: 3 givenname: Luc surname: Dugard fullname: Dugard, Luc organization: Gipsa-Lab UMR CNRS 5216, Control Systems Department, 11 rue des Mathématiques, BP46, 38402 Saint Martin d'Hères, France – sequence: 4 givenname: John-Jairo surname: Martinez-Molina fullname: Martinez-Molina, John-Jairo organization: Gipsa-Lab UMR CNRS 5216, Control Systems Department, 11 rue des Mathématiques, BP46, 38402 Saint Martin d'Hères, France – sequence: 5 givenname: Peter surname: Gaspar fullname: Gaspar, Peter email: gaspar@sztaki.hu organization: Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary – sequence: 6 givenname: Zoltan surname: Szabo fullname: Szabo, Zoltan email: szabo@sztaki.hu organization: Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111 Budapest, Hungary |
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| Copyright | 2013 European Control Association Copyright Elsevier Limited 2013 Distributed under a Creative Commons Attribution 4.0 International License |
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| SubjectTerms | Automatic Braking systems Control algorithms Controllers Engineering Sciences Fourier transforms Methods Systems stability Trucks Vehicles |
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| Title | Integrated vehicle dynamics control via coordination of active front steering and rear braking |
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