Title: An integrated algorithm for vehicle stability improvement with the coordination of direct yaw moment and four-wheel steering control

Authors: Jiawang Yong; Feng Gao; Nenggen Ding; Yuping He

Addresses: Department of Automotive Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing, 100191, China ' Department of Automotive Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing, 100191, China ' Department of Automotive Engineering, Beihang University, 37 Xueyuan Road, Haidian District, Beijing, 100191, China ' Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, L1H 7K4, Ontario, Canada

Abstract: This paper presents an integrated algorithm for enhancing vehicle stability with the coordination of four-wheel steering and direct yaw moment control based on a hierarchical control structure. At the upper level of the integrated control system, the desired four-wheel steering angles and yaw moment are derived using a sliding mode control technique; at the lower level, the control inputs are optimised and implemented using a pseudo-inverse method. A 2 degrees of freedom (DOF) vehicle model is generated to design the integrated control algorithm, and an 8-DOF non-linear vehicle model is developed for numerical simulations. The algorithm is evaluated using a hardware-in-the-loop real-time simulation system (HILS) with the physical implementation of active four-wheel steering and differential braking. It is demonstrated that the proposed algorithm can enhance vehicle handling and stability under different operating conditions.

Keywords: sliding mode control; four-wheel steering; direct yaw moment; electric booster brake system; integrated vehicle stability control; hardware-in-the-loop real-time simulation.

DOI: 10.1504/IJVD.2017.086445

International Journal of Vehicle Design, 2017 Vol.74 No.3, pp.231 - 256

Received: 21 May 2016
Accepted: 29 Mar 2017
Published online: 10 Sep 2017 *

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