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Fault-tolerant yaw moment control with steer — and brake-by-wire devices

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Abstract

This paper presents an fault-tolerant yaw moment control for a vehicle with steer-by-wire (SBW) and brake-by-wire (BBW) devices. SBWs and BBWs can give active front steering (AFS) and electronic stability control (ESC) functions, respectively. Due to motor-driven devices, actuator and sensor faults are inherent in SBW and BBW, and can cause a critical damage to a vehicle. Simple direct yaw moment control is adopted to design a vehicle stability controller. To cope with actuator failure, weighted pseudo-inverse based control allocation (WPCA) with variable weights is proposed in yaw moment distribution procedure. Simulations on vehicle simulation software, CarSim®, show the proposed method is effective for fail safety.

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Abbreviations

C f , C r :

cornering stiffness of front/rear wheels (N/rad)

F yf , F yr :

lateral tire forces of front/rear wheels (N)

F x :

control tire force generated by EMB (N)

F y :

control tire force generated by AFS (N)

F z :

vertical tire force (N)

K :

gain of sliding mode controller

H :

effectiveness matrix

I z :

yaw moment of inertia (kg·m2)

l f , l r :

distances from the center of gravity to front/rear axles (m)

m :

vehicle total mass (kg)

M B :

control yaw moment (N·m)

r w :

radius of a wheel (m)

T B :

braking torque (N·m)

t f , t r :

front/rear track width (m)

v x , v y :

longitudinal/lateral velocities (m/s)

W :

weighting matrix in WPCA

q :

vector of control tire forces

α f , α r :

tire slip angles of front/rear wheels (rad)

β :

side-slip angle (rad)

δ f :

front steering angle determined by driver’s steering wheel angle (rad)

δ f1, δ f2 :

steering angles of front left/right wheels (rad)

Dδ f1, Dδ f2 :

active front steering angles of the front left/right wheels (rad)

ɛ :

weight for a particular tire force

η :

tuning parameter on side-slip angle

γ, γ d :

real and reference yaw rates (rad/s)

λ :

tire slip ratio

ρ :

vector of variable weights in WPCA

µ:

tire-road friction coefficient

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Authors and Affiliations

  1. Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul, 139-743, Korea

    S. Yim

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  1. S. Yim
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Correspondence to S. Yim.

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Yim, S. Fault-tolerant yaw moment control with steer — and brake-by-wire devices. Int.J Automot. Technol. 15, 463–468 (2014). https://doi.org/10.1007/s12239-014-0048-0

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  • DOI: https://doi.org/10.1007/s12239-014-0048-0

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