Using µ Feedforward for Vehicle Stability Enhancement

A differential braking control strategy using yaw rate feedback, coupled with µ feedforward is introduced for a vehicle cornering on different µ roads. A nonlinear 4-wheel car model is developed. A desired yaw rate is calculated from the reference model based on the driver steering input. It is shown that knowledge of µ offers significant improvement of the vehicle desired trajectory over that of a yaw rate controller alone. Uncertainties and time delay in estimating µ are shown to still yield a system that is superior to using no µ information at all.

[1]  Hans B. Pacejka,et al.  Tyre Modelling for Use in Vehicle Dynamics Studies , 1987 .

[2]  Masayoshi Tomizuka,et al.  Vehicle lateral velocity and yaw rate control with two independent control inputs , 1990, 1990 American Control Conference.

[3]  Laura R. Ray Nonlinear Estimation of Vehicle State and Tire Forces , 1992, 1992 American Control Conference.

[4]  W R Pasterkamp,et al.  ON LINE ESTIMATION OF TYRE CHARACTERISTICS FOR VEHICLE CONTROL. , 1994 .

[5]  Masayoshi Ito,et al.  ESTIMATION OF ROAD SURFACE CONDITIONS USING WHEEL SPEED BEHAVIOR. , 1994 .

[6]  Davor Hrovat,et al.  Vehicle steering intervention through differential braking , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[7]  Laura Ryan Ray,et al.  Nonlinear state and tire force estimation for advanced vehicle control , 1995, IEEE Trans. Control. Syst. Technol..

[8]  Laura E. Ray Real time determination of road coefficient of friction for IVHS and advanced vehicle control , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[9]  A. W. Parsons,et al.  ROAD SURFACE CORRECTION OF TIRE TEST DATA , 1996 .

[10]  Masaki Yamamoto,et al.  Vehicle Stability Control in Limit Cornering by Active Brake , 1996 .

[11]  Huei Peng,et al.  Road Friction Coefficient Estimation For Vehicle Path Prediction , 1996 .

[12]  Nobuyoshi Asanuma,et al.  Adaptive Yaw Rate Feedback 4WS with Tire/Road Friction Coefficient Estimator , 1997 .

[13]  Dean Karnopp,et al.  A Combined Active-Steering Differential-Braking Yaw Rate Control Strategy for Emergency Maneuvers , 1998 .

[14]  Yi Kyongsu,et al.  Observer Based Estimation of Tire-Road Friction for Collision Warning Algorithm Adaptation , 1998 .

[15]  Donald Margolis The benefits of road friction feed forward control for improved vehicle handling , 2000 .

[16]  Taehyun Shim,et al.  Using μ Feedforward for Vehicle Stability Enhancement , 2000 .