Driving control algorithm for maneuverability, lateral stability, and rollover prevention of 4WD electric vehicles with independently driven front and rear wheels

IEEE Transactions on Vehicular Technology

Volumn 60, Issue 7, 2011, Pages 2987-3001

  Kang, Juyong ^a   Yoo, Jinho ^b   Yi, Kyongsu ^a  

^a Seoul National University   (South Korea)

^b Agency for Defence Development   (South Korea)

Author keywords

Admissible control region; control allocation; driving control algorithm

Indexed keywords

ACTUATOR CONSTRAINTS; ADMISSIBLE CONTROL; BRAKE TORQUE; CONTROL ALLOCATION; CONTROL ALLOCATION STRATEGIES; CONTROL MODES; DRIVING CONTROL ALGORITHMS; DRIVING MOTORS; FOUR-WHEEL DRIVES; LATERAL STABILITY; LEVEL CONTROLLERS; LIMIT VALUES; NUMERICAL SIMULATION STUDIES; REAR WHEELS; SIMULATION STUDIES; SLIP RATIO; STEERING ANGLES; SUPERVISORY CONTROLLERS; TRACTION FORCES; TWO-MOTOR; VEHICLE SPEED; WHEEL SLIP CONTROL; WHEEL SLIPS; YAW MOMENT; YAW RATE;

ACTUATORS; ALGORITHMS; DYNAMICS; ELECTRIC VEHICLES; LEVEL CONTROL; MANEUVERABILITY; STABILITY; TRACTION (FRICTION); VEHICLE WHEELS;

CONTROLLERS;

EID: 80052866999     PISSN: 00189545     EISSN: None     Source Type: Journal    
DOI: 10.1109/TVT.2011.2155105     Document Type: Article

References (29)

1. H. Shimizu, J. Harada, C. Bland, K. Kawakami, and L. Chan, "Advanced concepts in electric vehicle design," IEEE Trans. Ind. Electron., vol. 44, no. 1, pp. 14-18, Feb. 1997.
2. Y. Hori, "Future vehicle driven by electricity and control-Research on four-wheel-motored 'UOT Electric March II'," IEEE Trans. Ind. Electron., vol. 51, no. 5, pp. 954-962, Oct. 2004.
3. K. Yi, T. Chung, J. Kim, and S. Yi, "An investigation into differential braking strategies for vehicle stability control," Proc. IMechE, Part D, vol. 217, no. 12, pp. 1081-1093, Jan. 2003.
4. K. Uematsu and J. C. Gerdes, "A comparison of several sliding surfaces for stability control," in Proc. AVEC, 2002, pp. 601-608.
5. B. Chen and H. Peng, "Differential-braking-based rollover prevention for sport utility vehicles with human-in-the-loop evaluations," Vehicle Syst. Dyn., vol. 36, no. 4/5, pp. 359-389, Nov. 2001.
6. B. Schofield and T. Hagglund, "Optimal control allocation in vehicle dynamics control for rollover mitigation," in Proc. Amer. Control Conf., Seattle, WA, 2008, pp. 3231-3236.
7. A. Y. Ungoren and H. Peng, "Evaluation of vehicle dynamic control for rollover prevention," Int. J. Automot. Technol., vol. 5, no. 2, pp. 115-122, Jun. 2004.
8. J. Yoon, W. Cho, B. Koo, and K. Yi, "Unified chassis control for rollover prevention and lateral stability," IEEE Trans. Veh. Technol., vol. 58, no. 2, pp. 596-609, Feb. 2009.
9. N. Mutoh and H. Yahagi, "Control methods suitable for electric vehicles with independently driven front and rear wheel structures," in Proc. VPPC, Chicago, IL, Sep. 7-9, 2005, pp. 638-645. [CD-ROM].
10. D. H Kim, J.M. Kim, S. H. Hwang, and H. S. Kim, "Optimal brake torque distribution for a four-wheel-drive hybrid electric vehicle stability enhancement," Proc. Inst. Mech. Eng. Part D-J. Automobile Eng., vol. 221, no. D11, pp. 1357-1366. [CD-ROM], 2007.
11. T. Lee, J. Kang, K. Yi, K. Noh, and K. Lee, "Integrated of longitudinal and lateral human driver models for evaluation of the vehicle active safety systems," presented at the Soc. Automotive Eng. World Congr., Detroit, MI, Apr., 2010, Paper 2010-01-0084.
12. M. Spenko, K. Iagnemma, and S. Dubowsky, "High speed hazard avoidance for mobile robots in rough terrain," in Proc. SPIE Conf. Unmanned Ground Vehicle Technol. VI, 2004, pp. 439-450.
13. M. Spenko, Y. Kuroda, S. Dubowsky, and K. Iagnemma, "Hazard avoidance for high-speed mobile robots in rough terrain," J. Field Robot., vol. 23, no. 5, pp. 311-331, May 2006.
14. J. Yoon, D. Kim, and K. Yi, "Design of a rollover index-based vehicle stability control scheme," Vehicle Syst. Dyn., vol. 45, no. 5, pp. 459-475, May 2007.
15. W. Cho, J. Yoon, S. Yim, B. Koo, and K. Yi, "Estimation of tire forces for application to vehicle stability control," IEEE Trans. Veh. Technol., vol. 59, no. 2, pp. 638-649, Feb. 2010.
16. G. Baffet, A. Charara, and J. Stéphant, "Sideslip angle, lateral tire force and road friction estimation in simulations and experiments," in Proc. IEEE Int. Conf. Control Appl., Oct. 4-6, 2006, pp. 903-908.
17. M. Doumiati, A. Victorino, A. Charara, and D. Lechner, "Unscented Kalman filter for real-time vehicle lateral tire forces and sideslip angle estimation," in Proc. IEEE Intell. Vehicles Symp., Jun. 2009, pp. 901-906.
18. L. R. Ray, "Non-linear tyre force estimation and road friction identification: Simulation and experiments," Automatica, vol. 33, no. 10, pp. 1819-1833, 1997.
19. R. Rajamani, N. Piyabongkarn, J. Lew, K. Yi, and G. Phanomchoeng, "Tire-road friction-coefficient estimation," IEEE Control Syst. Mag., vol. 30, no. 4, pp. 54-69, Aug. 2010.
20. R. Rajamani, D. Piyabongkarn, J. Y. Lew, and J. A. Grogg, "Algorithms for real time estimation on individual wheel tire-road friction coefficients," in Proc. Amer. Control Conf., 2006, pp. 4682-4687.
21. R. Rajamani, Vehicle Dynamics and Control. New York: Springer-Verlag, 2006, pp. 15-47.
22. O. Härkegard, "Efficient active set algorithms for solving constrained least squares problems in aircraft control allocation," Dept. Elect. Eng., Linköping Univ., Linköping, Sweden, Tech. Rep. LiTH-ISY-R-2426, 2002.
23. P. Tndel and T. A. Johansen, "Control allocation for yaw stabilization in automotive vehicles using multiparametric nonlinear programming," in Proc. Amer. Control Conf., 2005, pp. 453-458.
24. A. Hac, D. Doman, and M. Oppenheimer, "Unified control of brake and steer-by-wire systems using optimal control allocation methods," presented at the Soc. Automotive Eng. World Congr., Detroit, MI, 2006, Paper 2006-01-0924.
25. K. R. Buckholtz, "Reference input wheel slip tracking using sliding mode control," presented at the Soc. Automotive Eng. World Congr., Detroit, MI, Mar., 2002, Paper 2002-01-0301.
26. M. Schinkel and K. Hunt, "Anti-lock braking control using a sliding mode like approach," in Proc. Amer. Control Conf., Anchorage, AK, May 8-10, 2002, pp. 2386-2391.
27. J. Kang, W. Kim, J. Lee, and K. Yi, "Design, implementation, and test of skid steering-based autonomous driving controller for a robotic vehicle with articulated suspension," J. Mech. Sci. Technol., vol. 24, no. 3, pp. 793-800, Mar. 2010.
28. H. Yeo, D. Kim, S. Hwang, and H. Kim, "Regenerative braking algorithm for a HEV with CVT ratio control during deceleration," in Proc. Int. Continuously Variable Hybrid Transm. Congr., Sep. 23-25, 2004. [Online]. Available: http://www.lib.ucdavis.edu/dept/pse/resources/cvt04/papers/04CVT-41. pdf
29. W. Pengyu, W. Qingnian, Wangwei, and Z. Naiwei, "The affect of motor efficiency on regenerative braking at low-speed stage," in Proc. ICEET, Oct. 2009, pp. 388-391.