《Mapbased control method for vehicle stability enhancement》.pdfVIP

J. Cent. South Univ. (2015) 22: 114−120 DOI: 10.1007/s11771-015-2501-2 Map-based control method for vehicle stability enhancement 1 1 2 2 Moon-Young Yoon , Seung-Hwan Baek , Kwang-Suk Boo , Heung-Seob Kim 1. Graduate school of Mechanical Engineering, Inje University 607, Obang-Dong, Gimhae, Kyongnam, 621-749, Korea; 2. High Safety Vehicle Core Technology Research Center, Inje University 607, Obang-Dong, Gimhae, Kyongnam, 621-749, Korea © Central South University Press and Springer-Verlag Berlin Heidelberg 2015 Abstract: This work proposes a map-based control method to improve a vehicle’s lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka’s tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low fricti