Abstract: In this paper, fault tolerant control (FTC) system is developed for lateral vehicle dynamics by combining static output feedback control and sliding mode observers for improving vehicle handling and stability under sensors faults. The system consists of three blocks: fault detection and isolation (FDI) block, a static output feedback controller block and a switcher block. The nonlinea...

The objective of this study is to develop a post-impact vehicle stability control system that regulates both heading angle and lateral deviation from the original driving path, so that the severity of possible subsequent (secondary) crashes can be reduced. To characterize the vehicle motion after a crash event, an impact force estimation method and a vehicle motion prediction scheme are propose...

This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip an...

This paper focuses on the lateral control of intelligent vehicles. The aim is to minimize the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. The control input is the steering angle and the output is the lateral error displacement. After passivity analysis of the system to establish the properties of passivity between the inputs and outputs, we prese...

Non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. In this paper, an optimal linear quadratic regulator (LQR) controller for roll-yaw dynamics to articulated heavy vehicles is developed. For this purpose, the equations of motion obtained by the MATLAB softwar...

In this paper, the enhancement of vehicle stability and handling is investigated by control of the active geometry suspension system (AGS). This system could be changed through control of suspension mounting point’s position in the perpendicular direction to wishbone therefore the dynamic is alternative and characteristics need to change. For this purpose, suitable controller needs to change...

A Functional Virtual Prototyping full vehicle model for a tri-axial heavy-duty truck is built, and the nonlinearity of suspension dampers and tires is also considered. With the trajectory of full vehicle gravity center, longitudinal tire force of front wheel, longitudinal acceleration, lateral acceleration, yaw rate and pitch angle as the evaluation indexes of brake property, the influences of ...

300~500 words): The current automotive industry is confronted with ever-stringent demand for active safety systems since their capabilities such as preventing fatal accidents through artificial intervention are increasingly recognized. To implement Anti-lock Braking Systems (ABS), Traction Control Systems (TCS), etc, the availability of an accurate measure of the longitudinal velocity is the de...