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Technical Brief

Gain-Scheduled Vehicle Handling Stability Control Via Integration of Active Front Steering and Suspension Systems

[+] Author and Article Information
Xianjian Jin

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China
e-mail: jinxianjian@yeah.net

Guodong Yin

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China;
State Key Laboratory of Automotive Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: ygd@seu.edu.cn

Chentong Bian, Jiansong Chen, Pu Li, Nan Chen

School of Mechanical Engineering,
Southeast University,
Nanjing 211189, China

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 17, 2014; final manuscript received September 11, 2015; published online October 14, 2015. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 138(1), 014501 (Oct 14, 2015) (12 pages) Paper No: DS-14-1494; doi: 10.1115/1.4031629 History: Received November 17, 2014; Revised September 11, 2015

This paper proposes an integrated vehicle dynamics control system that aims to enhance vehicles handling stability and safety performance by coordinating active front steering (AFS) and active suspension systems (ASS). The integrated controller design is based on the lateral stability region described by phase plane approach that is employed to bound the vehicle stability and coordinate AFS and ASS. During normal steering conditions, the vehicle states lie inside the lateral stability region, only the AFS is involved for vehicle steerability enhancement. Whereas, when the vehicle reaches the handling limits and the vehicle states go outside the lateral stability region under extreme steering maneuvers, both AFS and ASS collaborate together to improve vehicle handling stability. The linear parameter-varying (LPV) polytopic vehicle model is built, which depends affinely on the time-varying longitudinal speed that is described by a polytope with finite vertices. The resulting gain-scheduling state-feedback controller is designed and solved utilizing a set of linear matrix inequalities derived from quadratic H performance. Simulation using matlab/simulink-carsim® is carried out to evaluate the performance of the integrated controller. The simulation results show the effectiveness of the proposed controller.

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Figures

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Fig. 1

Steering and suspension systems of the half-car model

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Fig. 2

The reference lateral stability region and its boundaries

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Fig. 3

The coordinated parameter versus the stability index

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Fig. 4

Reducing the vertices and the domains of polytope

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Fig. 5

Steering wheel angle for double change maneuver

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Fig. 6

Road disturbance for double change maneuver

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Fig. 7

Longitudinal velocity for double lane change maneuver

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Fig. 8

Yaw rate for double change maneuver

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Fig. 9

Vehicle slip angle for double change maneuver

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Fig. 10

Vertical acceleration for double change maneuver

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Fig. 11

Comparison of the lateral stability region for double change maneuver

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Fig. 12

Steering wheel angle for single lane change maneuver

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Fig. 13

Road disturbance for single lane change maneuver

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Fig. 14

Longitudinal velocity for single lane change maneuver

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Fig. 15

Yaw rate for single lane change maneuver

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Fig. 16

Vehicle slip angle for single lane change maneuver

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Fig. 17

Vertical acceleration for single lane change maneuver

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Fig. 18

Comparison of the lateral stability region for single lane change maneuver

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