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Article

Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control

[+] Author and Article Information
Ossama Mokhiamar, Masato Abe

Kanagawa Institute of Technology, Graduate School of Mechanical System Engineering, 1030 Shimo-ogino, Atsugi-shi, Kanagawa-ken, 243-0292, Japan

J. Dyn. Sys., Meas., Control 126(4), 753-763 (Mar 11, 2005) (11 pages) doi:10.1115/1.1850533 History: Received April 21, 2003; Revised January 24, 2004; Online March 11, 2005
Copyright © 2004 by ASME
Topics: Force , Vehicles , Tires , Yaw , Wheels , Braking
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References

Nagai,  M., and Ohki,  M., 1988, “Theoretical Study on Active Four-Wheel-Steering System by Virtual Vehicle Model Following Control,” JSAE Rev., 9(4), pp. 62–71.
Shibahata, Y., Shimada, K., and Tomari, T., 1992, “The Improvement of Vehicle Maneuverability by Direct Yaw Moment Control,” Proc. 1st International Symposium on Advanced Vehicle Control, Yokohama, Japan, pp. 452–457.
Shibahata,  Y., Shimada,  K., and Tomari,  T., 1993, “Improvement of Vehicle Maneuverability by Direct Yaw Moment Control,” Veh. Syst. Dyn., 22, pp. 465–481.
Roppenecker,  G., and Wallentowitz,  H., 1993, “Integration of Chassis and Traction Control Systems, What is Possible, What Makes Sense, What is Under Development,” Veh. Syst. Dyn., 22, pp. 283–298.
Horiuchi,  S., Okada,  K., and Nohtomi,  S., 1999, “Effects of Integrated Control of Active Four Wheel Steering and Individual Wheel Torque on Vehicle Handling and Stability-A Comparison of Alternative Control Strategies-,” Veh. Syst. Dyn., 33, pp. 680–691.
Nagai,  M., Shino,  M., and Gao,  F., 2002, “Study on Integrated Control of Active Front Steer Angle and Direct Yaw Moment,” JSAE Rev., 23(3), pp. 309–315.
Mokhiamar,  O., and Abe,  M., 2002, “Active Wheel Steering and Yaw Moment Control Combination to Maximize Stability as Well as Vehicle Responsiveness During Quick Lane Change for Active Vehicle Handling Safety,” Proc. Inst. Mech. Eng., Part D (J. Automob. Eng.), 216, pp. 115–123.
Higuchi, A., and Saito, Y., 1992, “Optimal Control of Four Wheel Steering Vehicle,” Proc. 1st International Symposium on Advanced Vehicle Control, Yokohama, Japan, pp. 233–238.
Komatsu, A., Gordon, T., and Best, M., 2000, “4WS Control of Handling Dynamics Using a Linear Optimal Reference Model,” Proc. 5th International Symposium on Advanced Vehicle Control, Ann Arbor, Michigan, pp. 253–260.
Peng,  H., and Hu,  J., 1996, “Traction/Braking Force Distribution For Optimal Longitudinal Motion During Curve Following,” Veh. Syst. Dyn., 26, pp. 301–320.
Hattori, Y., Koibuchi, K., and Yokoyama, T., 2002, “Force and Moment Control With Nonlinear Optimum Distribution for Vehicle Dynamics,” Proc. 6th International Symposium on Advanced Vehicle Control, Hiroshima, Japan, pp. 595–600.
Ellis, J. R., 1969, Vehicle Dynamics, London Business Book, London.
Slotine, J.-J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, NJ.
M. Abe, Kato, A., Suzuki, K., Kano, Y., Furukawa, Y., and Shibahata, Y., 1998, “Estimation of Vehicle Side-Slip Angle for DYC by Using On-Board-Tire-Model,” Proc. 4th International Symposium on Advanced Vehicle Control, Nagoya, Japan, pp. 437–442.
Singiresu, S. R., 1996, Engineering Optimization, Wiley, New York.

Figures

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Schematic of the maneuver task geometry
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General closed-loop driver-vehicle system
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Vehicle free body diagram in the x-y plane
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Block diagram of the control systems: (a) DYC+RWS+FWS combined control, (b) optimum tire force distribution control
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Driver-vehicle system response subjected to evasive lane change without control
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Driver-vehicle system response subjected to evasive lane change with DYC+RWS+FWS combined control
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Driver-vehicle system response subjected to evasive lane change with optimum tire force distribution control
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Driver-vehicle system response subjected to evasive lane change without control
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Driver-vehicle system response subjected to evasive lane change with DYC+RWS+FWS combined control
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Driver-vehicle system response subjected to evasive lane change with optimum tire force distribution control
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Tires longitudinal forces time history: (a) DYC+RWS+FWS combined control, (b) optimum tire force distribution control
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Tires lateral forces time history: (a) DYC+RWS+FWS combined control, (b) optimum tire force distribution control
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Vehicle longitudinal deceleration time history
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Total tire forces divided by tire vertical load (tire workload) time history: (a) DYC+RWS+FWS combined control, (b) optimum tire force distribution control
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Driver-vehicle system response subjected to evasive lane change with braking
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Side-slip angle-yaw rate ratio versus vehicle speed
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β−β̇ phase-plane trajectory
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Vehicle trajectory time history: (a) V=100 km/h, (b) V=120 km/h
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Driver-vehicle system response subjected to evasive lane change without control on low-friction surface: (a) on wet road, (b) on icy road
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Effects of combined control-type DYC+RWS+FWS in case of low-friction surface: (a) on wet road, (b) on icy road
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Effects of optimum tire force distribution control in case of low friction surface: (a) on wet road, (b) on icy road

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