Title: Integrated chassis control system to enhance vehicle stability

Authors: Youssef A. Ghoneim, William C. Lin, David M. Sidlosky, Hsien H. Chen, Yuen-Kwok Chin, Michael J. Tedrake

Addresses: General Motors Corporation, Research and Development Center, 30500 Mound Road, Warren, MI 48090-9055, USA. General Motors Corporation, Research and Development Center, 30500 Mound Road, Warren, MI 48090-9055, USA. General Motors Corporation, Research and Development Center, 30500 Mound Road, Warren, MI 48090-9055, USA. General Motors Corporation, Research and Development Center, 30500 Mound Road, Warren, MI 48090-9055, USA. General Motors Corporation, Research and Development Center, 30500 Mound Road, Warren, MI 48090-9055, USA. General Motors Corporation, Research and Development Center, 30500 Mound Road, Warren, MI 48090-9055, USA

Abstract: Vehicle stability enhancement system, by controlling vehicle dynamics, is the latest active safety technology introduced since Antilock Brake System (ABS) and Traction Control System (TCS). This system provides the driver with enhanced vehicle stability and handling. It is the intent of this paper to provide an understanding of the fundamentals of control of vehicle stability. The paper describes a complete stability control algorithm. Starting with a model for the vehicle yaw-plane dynamics, we derive a desired vehicle response, using both time-domain and frequency-domain approaches. Control structures include both yaw rate feedback design, and full-state feedback design. The latter approach requires the estimation of vehicle side-slip velocity. Estimations based on integration of lateral acceleration, the use of algebraic equation using vehicle kinematics, and the use of a Luenberger observer are presented. Computation of the required wheel differential velocity to achieve control objectives is described. Finally, computer simulation is used to investigate and confirm the concepts being discussed.

Keywords: vehicle dynamics; desired vehicle response; side-slip velocity estimation; vehicle stability control; computer simulation.

DOI: 10.1504/IJVD.2000.001887

International Journal of Vehicle Design, 2000 Vol.23 No.1/2, pp.124-144

Published online: 18 Aug 2003 *

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