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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Unified Chassis Control with ESC and AFS under Lateral Tire Force Constraint on AFS

타이어 횡력 제한 조건 하에서 ESC와 AFS를 이용한 통합 섀시 제어

  • Yim, Seongjin (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology) ;
  • Nam, Gi Hong (Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology) ;
  • Lee, Ho Seok (Department of Automotive Engineering, Seoul National University of Science and Technology)
  • 임성진 (서울과학기술대학교 기계.자동차공학과) ;
  • 남기홍 (서울과학기술대학교 기계.자동차공학과) ;
  • 이호석 (서울과학기술대학교 산업대학원 자동차공학과)
  • Received : 2015.01.06
  • Accepted : 2015.03.26
  • Published : 2015.07.01
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Abstract

This paper presents an unified chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. When generating the control yaw moment, an optimization problem is formulated in order to determine the tire forces, generated by ESC and AFS. With Karush-Kuhn-Tucker optimality condition, the optimum tire forces can be algebraically calculated. On low friction road, the lateral force in front wheels is easily saturation. When saturated, AFS cannot generate the required control yaw moment. To cope with this problem, new constraint on the lateral tire force is added into the original optimization problem. To check the effectiveness of the propose method, simulation is performed on the vehicle simulation package, CarSim.

Keywords

References

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Cited by

  1. Integrated Chassis Control with Electronic Stability Control and Active Front Steering under Saturation of Front Lateral Tire Forces vol.21, pp.10, 2015, https://doi.org/10.5302/J.ICROS.2015.15.0126