This contribution describes a real-time model predictive control allocation algorithm for over-actuated electric vehicles with individually driven wheels. The proposed method allows to exploit the inherent redundancy present in these systems to optimally allocate yaw moment and longitudinal force while considering actuator dynamics and complying with rate and wheel slip constraints. A linear fo...

Using electrical machine in conventional vehicles, also called hybrid vehicles, has become a promising control scheme that enables some manners for fuel economy and driver assist for better stability. In this paper, vehicle stability control, fuel economy and Driving/Regeneration braking for a 4WD hybrid vehicle is investigated by using an electrical machine on each non-driven wheels. In front ...

This work evaluates the intrinsic contribution of the yaw rate reference to the overall handling performance of an electric vehicle with torque vectoring control in terms of minimum-time manoeuvring. A range of yaw rate references are compared through optimal control simulations incorporating closed-loop controller dynamics. Results show yaw rate reference has a significant effect on manoeuvre ...

A nonlinear model consisting “yaw, roll, longitudinal, lateral and pitch” has been developed in which, tire and suspension characteristics have been considered. Tire model is based on the elliptic concept and tire Calspan data. According to this tire model, cornering force and aligning moment are computed as a function of slip and camber (inclination) angles, normal load, tire adhesion characte...

In recent years several Parameter Identification (PID) techniques have been proposed for on-line real-time applications. Historically aircraft parameter estimation has been performed off line using recorded flight data from specifically designed maneuvers. Flight data from the NASA F/A-18 High Alpha Research Vehicle (HARV) aircraft is used for this study and is compared with baseline wind tunne...

This paper proposed a control method of vehicle lateral stability system. In order to obtain the best driving performance under complicated friction conditions track, direct yaw moment (DYC) and engine torque regulation (ETC) value need be adjusted avoid penalisation each other. Firstly, intervention timing is studied, which judged by phase plane longitudinal speed threshold method, respectivel...

Drivers of man-machine cooperative driving intelligent vehicles are affected by skills, physiological reactions, and other factors. Under emergency conditions, they often subconsciously forcefully take over control rights produce unreasonable stress steering, which brings new accident risks to vehicles. To avoid collisions, this paper proposes an collision avoidance strategy for In the path pla...

In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking control of active front steering system with the objectives to improve the transient performance of yaw rate response. For lateral and yaw dynamics analysis, nonlinear and linear vehicle models are utilized as actual vehicle plant and for controller design respectively. The designed controller is evaluat...