Control of vehicle lateral dynamics based on longitudinal wheel forces

TJ Mechanical engineering and machinery

O'Neill, Simon James ; Gollee, Henrik

University:University of Glasgow

Department:School of Engineering

关键词: Vehicle dynamics control, vehicle longitudinal dynamics, hardware in the loop, software in the loop, control theory;   

Others  :  http://theses.gla.ac.uk/3670/1/2012o%27neillmscr.pdf

来源: University of Glasgow

【 摘 要 】

Trends show that on board vehicle technology is becoming increasingly complex and thatthis will continue to be the case. This complexity has enabled both driver assistance systemsand fully automatic systems to be introduced. Driver assistance systems include anti-lockbraking and yaw rate control, and these differ from fully automatic systems which includecollision avoidance systems, where control of the car may be taken away from the driver.With this distinct difference in mind, this work will focus on driver assist based systems,where emerging technology has created an opportunity to try and improve upon the systemswhich are currently available.This work investigates the ability to simultaneously control a set of two lateral dynamicsusing primarily the longitudinal wheels forces. This approach will then be integrated withfront wheel steering control to assess if any benefits can be obtained.To aid this work, three different vehicle models are available. A linear model is derived forthe controller design stage, and a highly nonlinear validated model from an industrial partneris available for simulation and evaluation purposes. A third model, which is also nonlinear,is used to integrate the control structures with a human interface test rig in a Hardware inthe Loop (HiL) environment, which operates in real-time.Frequency based analysis and design techniques are used for the feedback controller design,and a feedforward based approach is used to apply a steering angle to the vehicle model.Computer simulations are initially used to evaluate the controllers, followed by evaluation viaa HiL setup using a test rig. Using a visualisation environment in Matlab, this interface deviceallows driver interaction with the controllers to be analysed. It also enables driver reactionwithout any controllers present to be compared directly with the controller performancewhilst completing the test manoeuvres.Results show that during certain manoeuvres, large variations in vehicle velocity arerequired to complete the control objective. However, it can be concluded from both thecomputer simulation and HiL results that simultaneous control of the lateral dynamics, basedon the longitudinal wheel forces can be achieved using linear control methods.