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Lateral stability control of fully electric vehicles

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Abstract

The problem of vehicle lateral stability control for fully electric vehicles is addressed in this paper using two different approaches. One of them is a novel integrated lateral stability control (ILSC) system and the second one is a regenerative braking based lateral stability control system (RB-LSC). The proposed ILSC system is based on corrective yaw moment calculation, braking torque distribution and electric motor torque reduction. The proposed second method — RB-LSC — is a simpler method than the ILSC system. In this method, electric motor torque is regulated according to the vehicle side slip error and/or the vehicle yaw rate error. The performances of the proposed methods are evaluated under severe road conditions and extreme maneuvers using the commercially available CarSim vehicle dynamics software. The results show that the proposed control systems improve vehicle lateral stability significantly.

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Abbreviations

m :

total mass of the vehicle, 1652, kg

J :

vehicle moment of inertia about yaw axis, 5392, kgm2

V :

vehicle velocity at the CoG (center of gravity)

V x :

vehicle longitudinal velocity at the CoG

V y :

vehicle lateral velocity at the CoG

β :

side slip angle

ψ :

yaw angle

r :

yaw rate

β d :

desired side slip angle

r d :

desired yaw rate

l f :

distance from vehicle CoG to front axle, 1.2449, m

l r :

distance from vehicle CoG to rear axle, 1.5101, m

μ :

tire-road friction coefficient

C yf :

lateral cornering stiffness for front wheel, 52000, N/rad

C yr :

lateral cornering stiffness for rear wheel, 52000, N/rad

δ f :

front wheel steering angle

C xi :

longitudinal stiffness for the ith wheel, 128000, N

M z :

corrective yaw moment

R ef :

effective rolling radius of wheels, 0.304, m

l wF :

front track width, 1.51, m

l wR :

rear track width, 1.53, m

T bi :

braking torque for the ith wheel

T bf,max :

maximum braking torque for front wheels

T br,max :

maximum braking torque for rear wheels

M zf,max :

maximum generable corrective yaw moment from individual front wheel braking

M zr,max :

maximum generable corrective yaw moment from individual rear wheel braking

s i :

slip ratio of the ith wheel

s di :

desired slip ratio of the ith wheel

V i :

longitudinal velocity of the ith wheel

ω i :

angular velocity of the ith wheel

α i :

slip angle of the ith wheel

P bi :

brake pressure of the ith wheel

P mas :

master cylinder pressure

K 1i , K 2i :

coefficients of the hydraulic brake actuator model for the ith wheel, 0.0602.

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Authors and Affiliations

  1. Mechanical Engineering Deparment, Istanbul Technical University, Istanbul, 34437, Turkey

    M. T. Emırler

  2. Mekar Labs, Faculty of Engineering and Architecture, Mechanical Engineering Department, Istanbul Okan University, Istanbul, 34959, Turkey

    K. Kahraman, M. Şentürk, O. U. Acar, B. Aksun Güvenç & L. Güvenç

  3. TOFAŞ R&D Center, Bursa, Turkey

    B. Efendıoğlu

Authors
  1. M. T. Emırler
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  2. K. Kahraman
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  3. M. Şentürk
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  4. O. U. Acar
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  5. B. Aksun Güvenç
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  6. L. Güvenç
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  7. B. Efendıoğlu
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Correspondence to M. T. Emırler.

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Emırler, M.T., Kahraman, K., Şentürk, M. et al. Lateral stability control of fully electric vehicles. Int.J Automot. Technol. 16, 317–328 (2015). https://doi.org/10.1007/s12239-015-0034-1

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  • DOI: https://doi.org/10.1007/s12239-015-0034-1

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