Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Integrated Chassis Control for the Driving Safety

주행 안전을 위한 통합 샤시 제어

  • 조완기 (서울대학교 기계항공공학부) ;
  • 이경수 (서울대학교 기계항공공학부) ;
  • 장래혁 (서울대학교 전기컴퓨터공학부)
  • Received : 2010.03.15
  • Accepted : 2010.04.30
  • Published : 2010.07.01
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Abstract

This paper describes an integrated chassis control for a maneuverability, a lateral stability and a rollover prevention of a vehicle by the using of the ESC and AFS. The integrated chassis control system consists of a supervisor, control algorithms and a coordinator. From the measured and estimation signals, the supervisor determines the vehicle driving situation about the lateral stability and rollover prevention. The control algorithms determine a desired yaw moment for lateral stability and a desired longitudinal force for the rollover prevention. In order to apply the control inputs, the coordinator determines a brake and active front steering inputs optimally based on the current status of the subject vehicle. To improve the reliability and to reduce the operating load of the proposed control algorithms, a multi-core ECU platform is used in this system. For the evaluation of this system, a closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.

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References

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