Comparison of model reference and map based control method for vehicle stability enhancement
conference paper
A map based controller method to improve a vehicle lateral stability is proposed in this study and compared with the conventional method, a model referenced controller. A model referenced controller to determine compensated yaw moment uses the sliding mode method, but the proposed map based controller uses compensated yaw moment map acquired by vehicle stability analysis. Vehicle stability region is calculated by topological method based on trajectory reversal method. A two degree-of-freedom vehicle model and Pacejkas tire model used to evaluate the proposed map based controller. The control performance of two methods are compared under various road conditions and driving inputs. Model referenced control method needs control input to satisfies linear reference model, and then generates unnecessary tire lateral forces, it may lead to worse performance than uncontrolled vehicle with step steer input in low friction road. As the results of simulation, map based controller seems to be better than model referenced in the viewpoint of stability. © 2012 IEEE.
TNO Identifier
466870
ISBN
9781467330640
Article nr.
No.: 6338860
Source title
2012 15th International IEEE Conference on Intelligent Transportation Systems, ITSC 2012, 16 - 19 September 2012, Anchorage, AK, USA
Collation
6 p.
Pages
1503-1508
Files
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