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Technical Paper

Integrated Chassis Control for Vehicle Stability under Various Road Friction Conditions

2018-04-03
2018-01-0552
This paper presents an integrated chassis control method for vehicle stability under various road friction conditions without information on tire-road friction. For vehicle stability, vehicle with an integrated chassis control needs to cope with the various road friction conditions. One of the chassis control method under various road conditions is to determine and/or limit control inputs based on tire-road friction coefficient. The tire-road friction coefficient, however, is difficult to estimate and still a challenging task. The key idea for the proposed method without the estimation of the tire-road friction coefficient is to analyze and control vehicle states based on a tire slip angle - tire force phase plane, i.e. based on these vehicle responses: tire forces and tire slip angles of front/rear wheels.
Journal Article

A Tire Slip-Angle based Speed Control Driver Model for Analysis of Vehicle-Driver Systems at Limit Handling

2015-04-14
2015-01-1566
This paper presents a tire slip-angle based speed control race driver model. In developing a chassis control system for enhancement of high-speed driving performance, analysis of the vehicle-driver interaction at limit handling is one of the main research issues. Thus, a driver model which represents driving characteristics in a racing situation is required to develop a chassis control system. Since a race driver drives a vehicle as fast as possible on a given racing line without losing control, the proposed driver model is developed to ensure a lateral stability. In racing situation, one of the reasons which cause the lateral instabilities is an excessive corner-entry speed. The lateral instability in that moment is hard to handle with only a steering control. To guarantee the lateral stability of the vehicle while maximizing a cornering speed, a desired speed is determined to retain a tire slip-angle that maximizes lateral tire forces without front tire saturation.
Journal Article

Integrated Chassis Control for Enhancement of High Speed Cornering Performance

2015-04-14
2015-01-1568
This paper describes an Integrated Chassis Control (ICC) strategy for improving high speed cornering performance by integration of Electronics Stability Control (ESC), Four Wheel Drive (4WD), and Active Roll Control System (ARS). In this study, an analysis of various chassis modules was conducted to prove the control strategies at the limits of handling. The analysis is focused to maximize the longitudinal velocity for minimum lap time and ensure the vehicle lateral stability in cornering. The proposed Integrated Chassis Control algorithm consists of a supervisor, vehicle motion control algorithms, and a coordinator. The supervisor monitors the vehicle status and determines desired vehicle motions such as a desired yaw rate, longitudinal acceleration and desired roll motion. The target longitudinal acceleration is determined based on the driver's intention and vehicle current state to ensure the vehicle lateral stability in high speed maneuvering.
Technical Paper

Development of Wheel Loader Dynamic Simulation Model

2013-04-08
2013-01-1194
This paper presents a 3D dynamic simulation model of a wheel loader. The objective of development of the wheel loader dynamic simulation model is to investigate power flow under both working and driving conditions. The wheel loader dynamic simulation model consists of 3 parts: Vehicle mechanical powertrain module, Hydraulic modules for working and steering, and Vehicle dynamic module. Vehicle powertrain module consists of engine, torque converter and transmission. Hydraulic modules consist of pump, valve, cylinder and attachments. In this paper, hydraulic powertrain is managed only for steering system because this paper has been focused on dynamic analysis of mechanical powertrain and vehicle. Front and rear bodies are connected by pin in the center of steering system. Action/reaction forces and moments applied to the pin are calculated by solving front/rear dynamic simultaneous equations.
Technical Paper

Torque Distribution Algorithm of Six-Wheeled Skid-Steered Vehicles for On-Road and Off-Road Maneuverability

2013-04-08
2013-01-0628
This paper is concerned with the torque distribution problem including slip limitation and actuator fault tolerance to improve vehicle lateral stability and maneuverability of six-wheeled skid-steered vehicles. The torque distribution algorithm to distribute wheel torque to each wheel of a skid-steered vehicle consists of an upper level control layer, a lower level control layer and an estimation layer. The upper level control layer is designed to obtain longitudinal net force and desired yaw moment, while the lower level control layer determines distributed driving and braking torques to six wheels. The algorithm takes vehicle speed, slip ratio and tire load information from the estimation layer, as well as actuator fault information from each in-wheel motor controller unit.
Technical Paper

Development of a Motor Torque Distribution Strategy of Six-wheel-Driven Electric Vehicles for Optimized Energy Consumption

2013-04-08
2013-01-1746
This paper describes a driving motor torque distribution strategy of six-wheel-driven electric vehicles for optimized energy consumption. In this research, this strategy minimizes motoring power consumption and maximizes regenerative braking power under given required power condition. The torque distribution controller consists of total required motor torque calculation part, upper and optimal torque calculation part, lower level controller. The upper level controller determines total required torque of vehicle. And the torque is determined by acceleration pedal input of driver and vehicle velocity. The lower level controller calculates energy consumption in given condition and distributes motor torque to driving motor minimizing energy consumption. In distributing optimal motor torque, it is important to get accurate characteristics of driving motor and performance constraint.
Technical Paper

Development of a Coordinated Strategy of Steering Torque Overlay and Differential Braking for Unintended Lane Departure Avoidance

2012-04-16
2012-01-0281
This paper describes a lane departure avoidance system to help the driver avoid the lane departure during drowsiness or inattention. The lane departure avoidance system proposed in this paper consists of unintended lane departure decision part, upper level controller part and lower level controller part. The index used in unintended lane departure decision part is proposed to monitor a driver's intention with steering behaviors. The desired dynamics is calculated in upper level controller part. When the desired dynamics is calculated, it is considered to guarantee a driver's safety and smooth ride feel simultaneously as possible. The lower level controller distributes the desired control input to actuators, motor driven power steering (MDPS) module and vehicle stability control (VSC) module. The proposed lane departure avoidance system has been evaluated via human driver model-in the loop simulation.
Journal Article

Fuel Economy Research on Series-Type HEV Intracity Buses with Different Traction Motor Capacity Combinations

2012-04-16
2012-01-1035
Research on HEV (hybrid electric vehicle) intracity buses has become a topic of interest because the well-known service routes of intracity buses and the frequent stop/go pattern make the energy management of the vehicle straightforward. Thus, the energy flow and the energy management of the intracity bus have been studied extensively in order to improve fuel economy. However, the HEV buses that have been studied previously were equipped with a single traction motor or with dual motors with the same capacity for the convenience of the equipment without considering the motoring or generating efficiency of the traction motor. Therefore, the energy flow from the engine/generator unit to the traction motor that has been optimized by many kinds of energy distribution strategies could not be transferred to the wheels in the most efficient manner. This paper investigates this aspect of the energy flow.
Journal Article

Design of a Model Reference Cruise Control Algorithm

2012-04-16
2012-01-0492
A methodology to design a model free cruise control algorithm(MFCC) is presented in this paper. General cruise control algorithms require lots of vehicle parameters to control the power train and the brake system, that makes control system complicate. Moreover, when the target vehicle is changed, the vehicle parameters should be reinvestigated in order to apply the cruise control algorithm to the subject vehicle. To overcome these disadvantages of the conventional cruise control algorithm, MFCC algorithm has been developed. The algorithm directly determines the throttle, brake inputs based on the reference model parameters such as clearance, relative velocity, and subject vehicle acceleration. This simple structure facilitates human centered design of cruise controller and makes it easy to apply control algorithm to various vehicles without reinvestigation of vehicle parameters.
Technical Paper

Development of Engine Control Using the In-Cylinder Pressure Signal in a High Speed Direct Injection Diesel Engine

2011-04-12
2011-01-1418
Emissions regulations are becoming more severe, and they remain a principal issue for vehicle manufacturers. Many engine subsystems and control technologies have been introduced to meet the demands of these regulations. For diesel engines, combustion control is one of the most effective approaches to reducing not only engine exhaust emissions but also cylinder-by-cylinder variation. However, the high cost of the pressure sensor and the complex engine head design for the extra equipment are stressful for the manufacturers. In this paper, a cylinder-pressure-based engine control logic is introduced for a multi-cylinder high speed direct injection (HSDI) diesel engine. The time for 50% of the mass fraction to burn (MFB50) and the IMEP are valuable for identifying combustion status. These two in-cylinder quantities are measured and applied to the engine control logic.
Journal Article

Estimation of Lateral Force due to Lateral Disturbance for Application to an MDPS-Based Driving Assistant System

2011-04-12
2011-01-0977
This paper describes a lateral disturbance estimator for an application to a Motor Driven Power Steering (MDPS)-based driving assistant system. A vehicle motion can be disturbed laterally by wind force or load from bank angle acting on the vehicle in the lateral direction. An MDPS-based driving assistant system can be used to reduce steering effort of a human driver in a driving situation with lateral disturbance. In designing the MDPS-based driving assistant system, the lateral wind disturbance should be estimated to determine an assistant torque. An estimator for the vehicle lateral disturbance estimation has been developed. The proposed estimator consists of two parts: a tire self-aligning torque estimator and the lateral disturbance estimator. The lateral disturbance estimator has been designed on the basis of a 2-DOF bicycle model with available sensor signals from the MDPS module. A numerical simulation has been conducted in order to evaluate the proposed estimator.
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