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Integration of Active Tilting Control and Full-Wheel Steering Control System on Vehicle Lateral Performance

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Abstract

This research presents an integration of two control systems, an active tilting controller and a full-wheel steering controller. This integration improves vehicle lateral performances by enhancing road-holding capability, lateral stability, and safety simultaneously. The active tilting controller utilizes an active mass shift to evenly distribute the vertical load at each suspension, and boost road-holding capability. On the other hand, the full-wheel steering controller adjusts rear steering angles to use lateral force at each ground-tyre contact point and amplify the vehicle’s ability to follow the desired yaw rate and global sideslip angle during cornering maneuvers. Considering the improved road-holding capability and the coupling effect of body attitude motion and yaw motion, the two controllers in combination produce a synergistic effect on ride comfort, maneuverability and safety, and improve overall lateral performance. A 7-degree-of-freedom (DOF) linear full car model is used in designing the active tilting controller, while a 2-DOF bicycle model considering the attitude motion of the car body is used in designing a full-wheel steering controller. A 14-DOF complex nonlinear full car model that can truly reflect 6-DOF car body motion is applied to verify the performance of the proposed collaborative system. The simulation results show that the system represents a better lateral stability and steering response in intense driving while ensuring the better heading directivity of the vehicle.

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Abbreviations

m :

vehicle sprung mass kg

J x, J y, J z :

roll, pitch, yaw inertia kg·m2

g :

gravitational acceleration m/s2

a, b :

distance of eg from right/left side m

c, d :

distance of e.g. from front and rear side m

h r :

height from roll center to e.g. of car body m

l f, l r :

initial length of front and rear suspension m

l si :

dynamic displacement of suspension m

k i :

suspension spring stiffness kN/m

b i :

suspension damping coefficient N s/m

ϕ n, θ n, ψ n :

roll, pitch, and yaw angle of the car body rad

ω x, ω y, ω z :

roll, pitch and yaw angular velocity of car body rad/s

u, v, w :

longitudinal, lateral and vertical velocity of the car body m/s

F xgsi, F ygsi, F zgsi :

longitudinal/lateral/vertical force at the tyre contact patch N

F xsi, F ysi, Fzsi :

longitudinal/lateral/vertical force acting at the mounting point of car body N

m ui :

wheel mass kg

J wi :

tyre rotational inertia kg·m2

k ti :

tyre spring stiffness kN/m

C λi, C αi :

longitudinal, later stiffness kN/rad

r io :

steady tyre radius m

r i :

dynamic tyre radius m

λ i :

longitudinal slip coefficient

α i :

sideslip angle of tyre rad

F xti, F yti :

longitudinal, lateral tyre force n

ω i :

tyre rotational angular velocity rad/s

δ i :

steering angle of the wheel rad

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Authors and Affiliations

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, 130012, China

    Wu Liang

  2. School of Mechanical, Aerospace & System Engineering, Gyeongsang National University, Jinju, 52828, Korea

    Ejaz Ahmac, Muhammad Arshad Khan & Iljoong Youn

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  1. Wu Liang
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  2. Ejaz Ahmac
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  3. Muhammad Arshad Khan
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  4. Iljoong Youn
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Correspondence to Iljoong Youn.

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Liang, W., Ahmac, E., Khan, M.A. et al. Integration of Active Tilting Control and Full-Wheel Steering Control System on Vehicle Lateral Performance. Int.J Automot. Technol. 22, 979–992 (2021). https://doi.org/10.1007/s12239-021-0088-1

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  • DOI: https://doi.org/10.1007/s12239-021-0088-1

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