Abstract
In this work, the reference model modification strategy for vehicle stability control based on driver's intention recognition under emergent obstacle avoidance situation was proposed. First the conflicts between the driver's emergency alignment (EA) intention and vehicle response characteristics were analyzed in critical emergent obstacle avoidance situation. Second combining steering wheel angle and its speed, the driver's EA intention was recognized. The reference model modification strategy based on steering operation index (SOI) was presented. Then a LQR model following controller with tire cornering stiffness adaption was used to generate direct yaw moment for tracking modified reference yaw rate and reference sideslip angle. Finally based on the four-in-wheel-motor-drive (FIWMD) electric vehicles (EV), double lane change and slalom tests were conducted to compare the results using modified reference model with the results using normal reference model. The experimental tests have proved the effectiveness of the reference model modification strategy based on driver's intention recognition.
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Abbreviations
- γ d :
-
desired yaw rate, rad/s
- γ r :
-
reference yaw rate
- γ mr :
-
modified reference yaw rate
- m :
-
vehicle mass
- C f :
-
front equivalent cornering stiffness
- C r :
-
rear equivalent cornering stiffness
- l :
-
wheel base
- l f :
-
distances from the front axis to COG
- l r :
-
distances from the rear axis to COG
- v x :
-
longitudinal velocity
- μ :
-
maximum road friction coefficient
- δ f :
-
steering angle of front wheel
- i f :
-
steering ratio
- g :
-
acceleration of gravity
- β :
-
sideslip angle
- \(\dot \beta \) :
-
derivative of sideslip angle
- a y :
-
lateral acceleration
- γ :
-
yaw rate
- s :
-
Laplace operator
- J z :
-
vehicle yaw moment of inertia
- δ n :
-
nominal steering wheel angle
- δ sw :
-
actual steering wheel angle
- \({\dot \delta _{sw}}\) :
-
derivative of actual steering wheel angle
- δ lower_limit :
-
lower limit of steering wheel angle
- \({\dot \delta _{sw\_lower\;limit}}\) :
-
derivative of lower limit of steering wheel angle speed
- T act :
-
time threshold before activating the recognition module
- T exit :
-
time threshold before turning off the recognition module
- β lower limit :
-
lower limit of reference sideslip angel
- β upper limit :
-
upper limit of reference sideslip angel
- β r :
-
reference sideslip angel
- M z :
-
direct yaw moment
- y :
-
observed vector
- ϕ :
-
measured vector
- θ :
-
estimated vector
- λ 1 :
-
forgetting factor of front axle
- λ 2 :
-
forgetting factor of rear axle
- Q :
-
weight matrix of control tracking error
- R :
-
weight matrix of control input
- B :
-
effectiveness matrix
- b f :
-
front wheel base
- b r :
-
rear wheel base
- u c :
-
control input
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This paper was modified from the original paper presented in FISITA World Automotive Congress 2016, and recommended by the Scientific & Technical Committee for journal publication.
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Xin, X., Lu, X., Yuye, H. et al. Vehicle stability control based on driver’s emergency alignment intention recognition. Int.J Automot. Technol. 18, 993–1006 (2017). https://doi.org/10.1007/s12239-017-0097-2
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DOI: https://doi.org/10.1007/s12239-017-0097-2