Abstract
The brake and steering systems in vehicles are the most effective actuators that directly affect the vehicle dynamics. In general, the brake system affects the longitudinal dynamics and the steering system affects the lateral dynamics; however, their effects are coupled when the vehicle is braking on a non-homogenous surface, such as a split-mu road. The yaw moment compensation of the steering control on a split-mu road is one of the basic functions of integrated or coordinated chassis control systems and has been demonstrated by several chassis suppliers. However, the disturbance yaw moment is generally compensated for using the yaw rate feedback or using wheel brake pressure measurement. Access to the wheel brake pressure through physical sensors is not cost effective; therefore, we modeled the hydraulic brake system to avoid using physical sensors and to estimate the brake pressure. The steering angle controller was designed to mitigate the non-symmetric braking force effect and to stabilize the yaw rate dynamics of the vehicle. An H-infinity design synthesis was used to take the system model and the estimation errors into account, and the designed controller was evaluated using vehicle tests.
Similar content being viewed by others
References
Ackermann, J. and Bünte, T. (1997). Yaw disturbance attenuation by robust decoupling of car steering. Control Engineering Practice, 5, 1131–1136.
Alleyne, A. (1997). Improved vehicle performance using combined suspension and braking forces. Vehicle System Dynamics, 27, 235–265.
Cherouat, H., Lakehal-Ayat, M. and Diop, S. (2004). An integrated braking and steering control for a cornering vehicle. Int. Symp. Advanced Vehicle Control, 2004 Arnhem, Netherlands, 341–346.
Cho, W., Yoon, J., Kim, J., Hur, J. and Yi, K. (2008). An investigation into unified chassis control scheme for optimised vehicle stability and manoeuvrability. Vehicle System Dynamics, 46, 87–105.
Choi, S. (2011). Sensorless adaptive speed control of a permanent-magnet dc motor for anti-lock brake systems. Int. J. Automotive Technology 12,2, 207–212.
Duda, H. and Berkner, S. (2004). Integrated chassis control using active suspension and braking. Int. Symp. Advanced Vehicle Control, 2004 Arnhem, Netherlands, 347–352.
Furukawa, Y. and Abe, M. (1997). Advanced chassis control systems for vehicle handling and active safety. Vehicle System Dynamics, 28, 59–86.
Ghoneim, Y. A., Lin, W. C., Sidlosky, D. M., Chen, H. H. and Chin, Y. K. (2000). Integrated chassis control system to enhance vehicle stability. Int. J. Vehicle Design, 23, 124–144.
Gordon, T., Howell, M. and Brandao, F. (2003). Integrated control methodologies for road vehicles. Vehicle System Dynamics, 40, 157–190.
Hac, A. and Bodie, M. O. (2002). Improvements in vehicle handling through integrated control of chassis systems. Int. J. Vehicle Autonomous Systems, 1, 83–110.
Harada, M. and Harada, H. (1999). Analysis of lateral stability with integrated control of suspension and steering systems. JSAE Review, 20, 465–470.
Horiuchi, S., Okada, K. and Nohtomi, S. (1999). Improvement of vehicle handling by nonlinear integrated control of four wheel steering and four wheel torque. JSAE Review, 20, 459–464.
Hwang, T., Park, K., Heo, S., Lee, S. and Lee, J. (2008). Design of integrated chassis control logics for AFS and ESP. Int. J. Automotive Technology 9,1, 17–27.
Kou, Y. (2010). Development and Evaluation of Integrated Chassis Control Systems. Ph. D. The University of Michigan. USA.
Li, D., Du, S. and Yu, F. (2008). Integrated vehicle chassis control based on direct yaw moment, active steering and active stabiliser. Vehicle System Dynamics, 46, 341–351.
Ono, E., Hattori, Y. and Muragishi, Y. (2005). Estimation of tire friction circle and vehicle dynamics integrated control for four-wheel distributed steering and fourwheel distributed traction/braking systems. R&D Review of Toyota CRDL, 40, 7–13.
Rabie, M. (2009). Fluid Power Engineering. McGraw-Hill Professional. New York.
Rieth, P. E. and Schwarz, R. (2004). ESC II — ESC with active steering intervention. SAE World Cong., Detroit, MI.
Sato, S., Inoue, H., Tabata, M. and Inagaki, S. (1992). Integrated chassis control system for improved vehicle dynamics. Int. Symp. Advanced Vehicle Control, Yokohama, Japan, 413–418.
Semmler, S. J., Rieth, P. E. and Linkenbach, S. J. (2006). Global chassis control — The networked chassis. SAE Automotive Dynamics, Stability & Controls Conference and Exhibition, Novi, MI.
Skogestad, S. and Postlethwaite, I. (1996). Multivariable Feedback Control: Analysis and Design. John Wiley. New York.
Smakman, H. (2000). Functional integration of active suspension with slip control for improved lateral vehicle dynamics. Int. Symp. Advanced Vehicle Control, Ann Arbor, USA. 397–404.
Trachtler, A. (2004). Integrated vehicle dynamics control using active brake, steering and suspension systems. Int. J. Vehicle Design, 36, 1–12.
Yasui, Y., Kodama, H., Momiyama, M., Kato, H., Tanaka, W., Ono, E. and Muragishi, Y. (2006). Electronic stability control (ESC) coordinated with electric power steering (EPS). FISITA, Yokohama, Japan.
You, S. H., Hahn, J. O., Cho, Y. M. and Lee, K. I. (2006). Modeling and control of a hydraulic unit for direct yaw moment control in an automobile. Control Engineering Practice, 14, 1011–1022.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Ahn, C., Kim, B. & Lee, M. Modeling and control of an anti-lock brake and steering system for cooperative control on split-mu surfaces. Int.J Automot. Technol. 13, 571–581 (2012). https://doi.org/10.1007/s12239-012-0055-y
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-012-0055-y