Control Allocation of Rear Wheel Steering and Electronic Stability Control with Actuator Failure

2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES) Pub Date : 2018-09-01 DOI:10.1109/ICVES.2018.8519509

Sungwook Lee, Y. Yoon, Jahng-Hyeon Park, W. Hong

{"title":"Control Allocation of Rear Wheel Steering and Electronic Stability Control with Actuator Failure","authors":"Sungwook Lee, Y. Yoon, Jahng-Hyeon Park, W. Hong","doi":"10.1109/ICVES.2018.8519509","DOIUrl":null,"url":null,"abstract":"This paper has presented optimal coordination of Rear Wheel Steering and Electronic Stability Control. The algorithm consists of three parts. First, state estimators for tire force, cornering stiffness and side slip angle have been designed. Second, desired vehicle motion has been generated considering driving situation and driver’s intention. Third, optimal coordinator has distributed the control task to the individual chassis control using analytical method with Karush-Kuhn-Tucker. The purpose of this study can be divided into two categories. One is optimal control of Rear Wheel Steering and Electronic Stability Control. Therefore, new cost functions have been defmed. The other is fault tolerant control during actuator fault or brake circuit failure. The performance of the proposed control system has been validated through closed-loop simulations with MATLABlSimulink and Carsim. The simulation results show that proposed system does not only distribute the control input to each control system but also ensure vehicle safety under actuator failure.","PeriodicalId":203807,"journal":{"name":"2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICVES.2018.8519509","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

Abstract

This paper has presented optimal coordination of Rear Wheel Steering and Electronic Stability Control. The algorithm consists of three parts. First, state estimators for tire force, cornering stiffness and side slip angle have been designed. Second, desired vehicle motion has been generated considering driving situation and driver’s intention. Third, optimal coordinator has distributed the control task to the individual chassis control using analytical method with Karush-Kuhn-Tucker. The purpose of this study can be divided into two categories. One is optimal control of Rear Wheel Steering and Electronic Stability Control. Therefore, new cost functions have been defmed. The other is fault tolerant control during actuator fault or brake circuit failure. The performance of the proposed control system has been validated through closed-loop simulations with MATLABlSimulink and Carsim. The simulation results show that proposed system does not only distribute the control input to each control system but also ensure vehicle safety under actuator failure.

查看原文本刊更多论文

考虑致动器故障的后轮转向控制分配与电子稳定控制

提出了后轮转向与电子稳定控制的最优协调。该算法由三部分组成。首先，设计了轮胎力、转弯刚度和侧滑角的状态估计器。其次，考虑驾驶情况和驾驶员意图，生成期望的车辆运动;第三，利用Karush-Kuhn-Tucker分析方法，将最优协调器的控制任务分配到单个底盘的控制上。本研究的目的可分为两类。一是后轮转向和电子稳定控制的最优控制。因此，定义了新的成本函数。另一个是在执行器故障或制动电路故障时的容错控制。通过matlab simulink和Carsim进行闭环仿真，验证了该控制系统的性能。仿真结果表明，该控制系统不仅将控制输入分配到各个控制系统，而且在执行器失效的情况下保证了车辆的安全性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES)

自引率

0.00%

发文量