Vehicle yaw motion control based on front-wheel lateral force tracking

Yu An Ku, Te-Sheng Hsiao, Yu Yuan Chen

研究成果: Conference contribution同行評審

3 引文 斯高帕斯(Scopus)


This paper presents a vehicle yaw motion control scheme based on the front-wheel lateral force tracking method. The proposed control scheme consists of a yaw rate controller, an active front steering (AFS) controller, and a tire force estimator. The yaw rate controller calculates the front-wheel yaw moment that is required for the vehicle to follow the reference yaw rate. Then the desired front-wheel yaw moment is converted to the front lateral tire force command and sent to the AFS controller. The AFS controller acquires tire force feedback from the tire force estimator, and compensates for the nonlinearity and uncertainties of the tire dynamics, as well as variations of road conditions to accurately and robustly track the force command from the yaw rate controller. In case that the desired lateral tire force exceeds its physical limit, the AFS controller turns to stabilize the tire slip angle, instead of following the unachievable force command, to prevent the vehicle from skidding. Simulations are carried out and the results verify the satisfactory performance of the proposed control scheme.

主出版物標題ACC 2015 - 2015 American Control Conference
發行者Institute of Electrical and Electronics Engineers Inc.
出版狀態Published - 28 七月 2015
事件2015 American Control Conference, ACC 2015 - Chicago, United States
持續時間: 1 七月 20153 七月 2015


名字Proceedings of the American Control Conference


Conference2015 American Control Conference, ACC 2015
國家United States

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