Title: Real-time vehicle parameter estimation and equivalent moment electronic stability control

Authors: John C. Limroth; Thomas Kurfess

Addresses: 111 Whitehall St., Greenville, SC 29609, USA ' George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 801 Ferst Drive, Atlanta, GA 30332-0405, USA

Abstract: This paper presents a novel electronic stability control (ESC) strategy that is capable of adapting to changing vehicle mass, tyre cornering stiffnesses and road surface conditions. First a nonlinear reduced-order observer is used to estimate vehicle sideslip and axle slip angles. In addition, lateral forces are estimated providing a real-time characterisation of lateral force capability of the axles with respect to slip angle. A recursive least squares estimation algorithm is used to estimate cornering stiffness, which in turn provides a real-time indication of axle lateral force saturation. An algorithm calculates the reduction in yaw moment owing to axle lateral force saturation and determines an equivalent moment to be generated by differential braking on the opposite axle. Simulations demonstrate that the ESC strategy provides improved vehicle performance with regard to handling stability and is capable of adapting to changes in vehicle parameters.

Keywords: ESC; electronic stability control; adaptive control; parameter identification; vehicle dynamics; vehicle handling; real-time parameter estimation; equivalent moment; vehicle mass; tyre cornering stiffness; road surface conditions; nonlinear observer; reduced-order observer; vehicle sideslip; axle slip angles; lateral force; recursive least squares; yaw moment; axle lateral force saturation; differential braking; simulation; vehicle performance; handling stability.

DOI: 10.1504/IJVD.2015.071072

International Journal of Vehicle Design, 2015 Vol.68 No.1/2/3, pp.221 - 244

Accepted: 28 Oct 2013
Published online: 11 Aug 2015 *

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