Abstract
This paper presents a lateral disturbance estimator based on Motor Driven Power Steering (MDPS)-based driving assistant system considering parameter uncertainties. A vehicle motion can be laterally deviated by lateral disturbance including wind force and load from bank angle. MDPS systems using motors to assist steering torque have become common in production vehicles. The motor-assisted torque can be controlled by the motor overlay torque within a physically feasible range. To determine MDPS motor overlay torque for compensating lateral disturbance, the information of lateral disturbance is necessary and estimated data was used due to measurement difficulties. The proposed estimator includes a tire self-aligning torque estimator based on Kalman filter with a 2-degree-of freedom (2-DOF) bicycle model. A simulation study was conducted to analyze the influence of parameter variation and to investigate the appropriate parameters under various load conditions. The performance of the proposed estimator considering the vehicle parameter uncertainties has been evaluated for several levels of the lateral disturbances. The estimation algorithm has been evaluated via closed-loop simulation and test data.
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Abbreviations
- F CW,i :
-
crosswind force of i-axis
- C f,i :
-
coefficient of crosswind force
- ρ :
-
air density
- C f,i :
-
coefficient of crosswind force
- v r :
-
wind velocity relative to vehicle
- A :
-
vehicle frontal area
- M CW,i :
-
crosswind moment of i-axis
- C n,i :
-
coefficient of crosswind moment
- l :
-
wheel base
- v x :
-
vehicle longitudinal speed
- v CW :
-
crosswind speed
- ψ :
-
yaw angle
- β CW :
-
airflow side slip angle
- F yfr/l :
-
front lateral tire force of right/left tire
- F xfr/l :
-
front longi tire force of right/left tire
- F yrr/l :
-
rear lateral tire force of right/left tire
- F xrr/l :
-
rear longi tire force of right/left tire
- F CW :
-
crosswind force
- θ :
-
crosswind angle of attack
- d :
-
vehicle tread width
- T align :
-
self-aligning torque of i-th tire
- t f :
-
half tread width
- {vnl} f :
-
distance between the c.g and front wheel axis
- l r :
-
distance between the c.g and rear wheel axis
- F BANK :
-
lateral force due to bank angle
- m :
-
vehicle mass
- g :
-
acceleration of gravity
- Δ z :
-
height difference of left/right tire
- β :
-
vehicle body side slip angle
- γ :
-
vehicle yaw rate
- α f/r :
-
tire slip angle of front/rear tire
- F f/r :
-
front/rear tire force
- C f/r :
-
cornering stiffness of front/rear tire
- J :
-
inertia of steering
- N :
-
steering gear ratio
- T column :
-
steering column torque
- T assist :
-
motor assist torque
- T SAT :
-
sum of the self-aligning torque of front tires
- T friction :
-
friction torque
- K :
-
proportional rate of the self-aligning torque
- F W :
-
lateral force due to lateral disturbance
- M W :
-
yaw moment due to lateral disturbance
- δ f :
-
front steering angle
- φ :
-
vehicle roll angle
- φ BANK :
-
additive roll angle due to bank angle
- F zi :
-
vertical tire force of i-th tire
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Kim, K.W., Lee, S.B., Park, C.S. et al. Estimation of lateral disturbance under parameter uncertainties. Int.J Automot. Technol. 16, 427–433 (2015). https://doi.org/10.1007/s12239-015-0044-z
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DOI: https://doi.org/10.1007/s12239-015-0044-z