International Journal of Automotive Technology

, Volume 18, Issue 6, pp 993–1006

Vehicle stability control based on driver’s emergency alignment intention recognition

  • Xia Xin
  • Xiong Lu
  • Hou Yuye
  • Teng Guowen
  • Yu Zhuoping
Article
  • 24 Downloads

Abstract

In this work, the reference model modification strategy for vehicle stability control based on driver's intention recognition under emergent obstacle avoidance situation was proposed. First the conflicts between the driver's emergency alignment (EA) intention and vehicle response characteristics were analyzed in critical emergent obstacle avoidance situation. Second combining steering wheel angle and its speed, the driver's EA intention was recognized. The reference model modification strategy based on steering operation index (SOI) was presented. Then a LQR model following controller with tire cornering stiffness adaption was used to generate direct yaw moment for tracking modified reference yaw rate and reference sideslip angle. Finally based on the four-in-wheel-motor-drive (FIWMD) electric vehicles (EV), double lane change and slalom tests were conducted to compare the results using modified reference model with the results using normal reference model. The experimental tests have proved the effectiveness of the reference model modification strategy based on driver's intention recognition.

Key words

Emergent obstacle avoidance Driver's EA intention recognition Reference model modification Stability control 

Nomenclature

γd

desired yaw rate, rad/s

γr

reference yaw rate

γmr

modified reference yaw rate

m

vehicle mass

Cf

front equivalent cornering stiffness

Cr

rear equivalent cornering stiffness

l

wheel base

lf

distances from the front axis to COG

lr

distances from the rear axis to COG

vx

longitudinal velocity

μ

maximum road friction coefficient

δf

steering angle of front wheel

if

steering ratio

g

acceleration of gravity

β

sideslip angle

\(\dot \beta \)

derivative of sideslip angle

ay

lateral acceleration

γ

yaw rate

s

Laplace operator

Jz

vehicle yaw moment of inertia

δn

nominal steering wheel angle

δsw

actual steering wheel angle

\({\dot \delta _{sw}}\)

derivative of actual steering wheel angle

δlower_limit

lower limit of steering wheel angle

\({\dot \delta _{sw\_lower\;limit}}\)

derivative of lower limit of steering wheel angle speed

Tact

time threshold before activating the recognition module

Texit

time threshold before turning off the recognition module

βlower limit

lower limit of reference sideslip angel

βupper limit

upper limit of reference sideslip angel

βr

reference sideslip angel

Mz

direct yaw moment

y

observed vector

ϕ

measured vector

θ

estimated vector

λ1

forgetting factor of front axle

λ2

forgetting factor of rear axle

Q

weight matrix of control tracking error

R

weight matrix of control input

B

effectiveness matrix

bf

front wheel base

br

rear wheel base

uc

control input

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Abe, M. (1999). Vehicle dynamics and control for improving handling and active safety: From four-wheel steering to direct yaw moment control. Proc. Institution of Mechanical Engineers, Part K: J. Mult-Body Dynamics 213, 2, 87–101.MathSciNetGoogle Scholar
  2. Abe, M. (2009). Vehicle Handling Dynamics. Oxford: Butterworth-Heinemann. Oxford, UK.Google Scholar
  3. Alipour, H. and Sabahi, M. (2015). Lateral stabilization of a four wheel independent drive electric vehicle on slippery roads. Mechatronics, 30, 275–285.CrossRefGoogle Scholar
  4. Anton, T., Zanten, V., Erhardt, R., Landesfeind, K. and Pfaff, G. (1998). VDC systems development and perspective. SAE Paper No. 980235.Google Scholar
  5. Chen, J., Song, J., Li, L., Ran, X., Jia, G. and Wu, K. (2016). A novel pre-control method of vehicle dynamics stability based on critical stable velocity during transient steering maneuvering. Chinese J. Mechanical Engineering 29, 3, 475–485.CrossRefGoogle Scholar
  6. Ding, N. and Taheri, S. (2010). An adaptive integrated algorithm for active front steering and direct yaw moment control based on direct Lyapunov method. Vehicle System Dynamics 48, 10, 1193–1213.CrossRefGoogle Scholar
  7. Ding, H. and Guo, K. (2010). LQR method for vehicle yaw moment decision in vehicle stability control. J. Jilin University, 3, 597–601.Google Scholar
  8. Emirler, M., Kahraman, K., Senturk, M., Acar, O., Guvenc, B., Guvenc, L. and Efendioglu, B. (2015). Lateral stability control of fully electric vehicles. Int. J. Automotive Technology 16, 2, 317–328.CrossRefGoogle Scholar
  9. Enache, N., Netto, M., Mammar, S. and Lusetti, B. (2009). Driver steering assistance for lane departure avoidance. Control Engineering Practice 17, 6, 642–651.CrossRefGoogle Scholar
  10. Erke, A. (2008). Effects of electronic stability control (ESC) on accidents: A review of empirical evidence. Accident Analysis and Prevention 40, 1, 167–173.CrossRefGoogle Scholar
  11. Geng, C., Mostefai, L., Denaï, M. and Hori, Y. (2009). Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer. IEEE Trans. Industrial Electronics 56, 5, 1411–1419.CrossRefGoogle Scholar
  12. Gan, Z., Wang, J. and Guo, J. (2014). Multi-control state and switch conditions design for vehicle electric stability program. J. Mechanical Engineering 50, 4, 107–112.CrossRefGoogle Scholar
  13. Lee, J., Choi, J., Yi, K., Shin, M. and Ko, B. (2014). Lanekeeping assistance control algorithm using differential braking to prevent unintended lane departures. Control Engineering Practice, 23, 1–13.CrossRefGoogle Scholar
  14. Li, B., Dong, W. and Wang, X. (2013a). Design and simulation of an active vibration isolator based on pneumatic-electromagnetic hybrid driving. J. Northwestern Polytechnical University 31, 6, 871–877.Google Scholar
  15. Li, L., Jia, G., Chen, J., Zhu, H., Cao, D. and Song, J. (2015). A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces. Vehicle System Dynamics 53, 8, 1093–1116.CrossRefGoogle Scholar
  16. Li, L., Jia, G., Song, J. and Ran, X. (2013b). Progress on vehicle dynamics stability control system. J. Mechanical Engineering 49, 24, 95–107.CrossRefGoogle Scholar
  17. Peng, H. and Hori, Y. (2006). Optimum traction force distribution for stability improvement of 4WD EV in critical driving condition. Proc. 9th IEEE Int. Workshop on Advanced Motion Control, 206–211.Google Scholar
  18. Rajamani, R. (2005). Vehicle Dynamics and Control. Springer. Minneapolis, Minnesota, USA.MATHGoogle Scholar
  19. Raksincharoensak, P., Mizushima, T. and Nagai, M. (2009). Direct yaw moment control system based on driver behavior recognition. Vehicle System Dynamics 46, Supplement 1, 911–921.Google Scholar
  20. Shen, Y., Gao, Y. and Xu, T. (2016). Multi-axle vehicle dynamics stability control algorithm with all independent drive wheel. Int. J. Automotive Technology 17, 5, 795–805.CrossRefGoogle Scholar
  21. Shibahata, Y., Shimada, K. and Tomari, T. (1993). Improvement of vehicle maneuverability by direct yaw moment control. Vehicle System Dynamics 22, 5, 465–481.CrossRefGoogle Scholar
  22. Shino, M. and Nagai, M. (2001). Yaw-moment control of electric vehicle for improving handling and stability. JSAE Review 22, 4, 473–480.CrossRefGoogle Scholar
  23. Shino, M. and Nagai, M. (2003). Independent wheel torque control of small-scale electric vehicle for handling and stability improvement. JSAE Review 24, 4, 449–456.CrossRefGoogle Scholar
  24. Tahami, F., Kazemi, R., Farhanghi, S. and Samadi, B. (2002). Fuzzy based stability enhancement system for a four-motor-wheel electric vehicle. SAE Paper No. 2002-01-1588.CrossRefGoogle Scholar
  25. Teng, G., Xiong, L., Leng, B. and Hu, S. (2015). A novel reference model for vehicle dynamics control. IAVSD, Graz, Austria.Google Scholar
  26. Xia, X., Xiong, L., Hou, Y., Teng, G. and Yu, Z. (2016). A novel reference model for vehicle stability control based on yaw rate prediction and driver’s intention. Proc. FISITA 2016, BEXCO, Korea.Google Scholar
  27. Xiong, L., Teng, G., Yu, Z., Zhang, W. and Feng, Y. (2016). Novel stability control strategy for distributed drive electric vehicle based on driver operation intention. Int. J. Automotive Technology 17, 4, 651–663.CrossRefGoogle Scholar
  28. Xiong, L., Chen, C. and Feng, Y. (2014). Modeling of distributed drive electric vehicle based on co-simulation of Carsim/Simulink. J. System Simulation 26, 5, 1143–1148.Google Scholar
  29. Xiong, L., Yu, Z., Jiang, W. and Jiang, Z. (2010). Research on vehicle stability control of 4WD electric vehicle based on longitudinal force control allocation. J. Tongji University, 3, 417–421.Google Scholar
  30. Xiong, L., Yu, Z., Wang, Y., Chen, Y. and Meng, Y. (2012). Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tire cornering stiffness estimation. Vehicle System Dynamics 50, 6, 831–846.CrossRefGoogle Scholar
  31. Yang, C. (2011). Research on 4WD EV Stability Control. M. S. Thesis. Tongji University. Shanghai, China.Google Scholar
  32. Yang, P., Xiong, L., Zhang, K. and Yu, Z. (2013). Stability control strategy design and experiment of distributed electric drive vehicle. J. Mechanical Engineering 49, 24, 128–134.CrossRefGoogle Scholar
  33. Yang, X., Wang, Z. and Peng, W. (2009). Coordinated control of AFS and DYC for vehicle handling and stability based on optimal guaranteed cost theory. Vehicle System Dynamics 47, 1, 57–79.CrossRefGoogle Scholar
  34. Yu, Z., Leng, B., Xiong, L., Feng, Y. and Xia, X. (2015). Vehicle stability self-tuning control strategy based on joint criterion. Proc. 24th Symp. Int. Association for Vehicle System Dynamics, 481–489.Google Scholar
  35. Yu, Z., Gao, X. and Zhang, L. (2006). A study on coordination of direct yaw moment control and variable wheel slip control for vehicle stability. Automotive Engineering 28, 9, 844–848.Google Scholar
  36. Yu, Z., Feng, Y. and Xiong, L. (2013). Review on vehicle dynamics control of distributed drive electric vehicle. J. Mechanical Engineering 49, 8, 105–114.CrossRefGoogle Scholar
  37. Zanten, V. (2000). Bosch ESP systems: 5 years of experience. SAE Paper No. 2000-01-1633.Google Scholar

Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany 2017

Authors and Affiliations

  • Xia Xin
    • 1
    • 2
  • Xiong Lu
    • 1
    • 2
  • Hou Yuye
    • 1
    • 2
  • Teng Guowen
    • 1
    • 2
  • Yu Zhuoping
    • 1
    • 2
  1. 1.School of Automotive StudiesTongji UniversityShanghaiChina
  2. 2.National “2011” Collaborative Innovation CenterTongji UniversityShanghaiChina

Personalised recommendations