You are here: Home :: Area NEM :: Engineering :: Automation

Sergiy Antonov, Achim Fehn, Andreas Kugi

A New Approach to Lateral Dynamics Control of Passenger Vehicles

Keywords: vehicle dynamics control, differential flatness, reference tracking control, two degrees-of-freedom control, reference generation

This paper presents a new approach to the lateral dynamics control of passenger vehicles. In order to establish a physically meaningful interface to the subordinate wheel control system the yawing torque of the vehicle is introduced as a fictitious control input. It is shown that the lateral vehicle velocity of the nonlinear single track model serves as a flat output of the system. The proposed concept for the lateral dynamics control relies on a two degrees-of-freedom control structure with a flatness-based feedforward control of the lateral vehicle velocity and a stabilizing feedback control of the corresponding trajectory error system. Since the control concept indirectly corresponds to the control of the vehicle´s body side-slip angle, it brings along some advantages compared to the classical yaw rate control. Moreover, the model-based approach extremely simplifies the controller parametrization. For the practical implementation of this control scheme only the standard equipment of an ESP^®-system is required. The proposed control concept has been tested by means of numerous simulation studies with a detailed vehicle model.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 55, 09/2007
Pages: 488 - 496

Show full article (external site)

Show all available items of this journal

 

Area NEM