Article: Integrated control of active steering and braking systems with tyre forces and cornering stiffness estimation Journal: International Journal of Vehicle Design (IJVD) 2019 Vol.81 No.1/2 pp.19 - 41 Abstract: A model-based integrated controller for active steering and active braking systems is proposed to enhance vehicle handling and stability. A hierarchical scheme is adopted, including vehicle layer based on model predictive control (MPC), actuator layer, and observer layer. The MPC controller adopts a predictive model with the lateral force of front axle and yaw moment as inputs, which leaves the nonlinearity and coupling of tyre forces to be solved by the tyre force allocation algorithm in actuator layer, leading to more precise control action. In order to maintain satisfactory control performance with respect to the variation of tyre character, a dual extended Kalman filter (DEKF) is designed in the observer layer to estimate tyre forces and cornering stiffness. The observed results are used to reduce the mismatch of the reference models in vehicle layer and actuator layer. The effectiveness of the proposed controller is demonstrated by simulations in CarSim environment. Inderscience Publishers - linking academia, business and industry through research

Title: Integrated control of active steering and braking systems with tyre forces and cornering stiffness estimation

Authors: Qingwei Liu; Jiannan Luo; Hui Lu; Fan Yu

Addresses: State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, 800, Dongchuan Road, Shanghai, 200240, China ' School of Mechatronic Engineering and Automation, Shanghai University, 99, Shangda Road, Shanghai, 200444, China ' Technical Center of SAIC Motor Co., Ltd., 201, Anyan Road, Shanghai, 201804, China ' State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, 800, Dongchuan Road, Shanghai, 200240, China

Abstract: A model-based integrated controller for active steering and active braking systems is proposed to enhance vehicle handling and stability. A hierarchical scheme is adopted, including vehicle layer based on model predictive control (MPC), actuator layer, and observer layer. The MPC controller adopts a predictive model with the lateral force of front axle and yaw moment as inputs, which leaves the nonlinearity and coupling of tyre forces to be solved by the tyre force allocation algorithm in actuator layer, leading to more precise control action. In order to maintain satisfactory control performance with respect to the variation of tyre character, a dual extended Kalman filter (DEKF) is designed in the observer layer to estimate tyre forces and cornering stiffness. The observed results are used to reduce the mismatch of the reference models in vehicle layer and actuator layer. The effectiveness of the proposed controller is demonstrated by simulations in CarSim environment.

Keywords: integrated control; MPC; model predictive control; DEKF; dual extended Kalman filter; tyre force estimation; tyre cornering stiffness identification.

DOI: 10.1504/IJVD.2019.110698

International Journal of Vehicle Design, 2019 Vol.81 No.1/2, pp.19 - 41

Accepted: 30 Dec 2019
Published online: 28 Oct 2020 *

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Title: Integrated control of active steering and braking systems with tyre forces and cornering stiffness estimation

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