Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9153

Srivatsan Srinivasan, Matthias J. Schmid, V. Krovi

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Abstract

Incorporation of electronic yaw stabilization in on-road vehicles can take many forms. Although the most popular ones are differential braking and torque distribution, a potentially better alternative would be the inclusion of a controller into the steering process. However, this is not often pursued in mechanically-coupled steering systems since the controller could work against the driver’s intentions creating potential challenges to safety. The growing adoption of steer-by-wire (SbW) systems now in autonomous/semi-autonomous vehicles offers an opportunity to simplify the incorporation of such steering-controller based assistance. Most current steering-assistance systems focus either on adaptive steering control (adaptive power steering and gear ratios) or on total steering control in autopilot functions (lane keeping control). Such steering-controllers (incorporated via SbW modality) can improve driving performance and maneuverability and contribute to the overall suite of active-safety vehicle systems. In this study, we introduce a new pure-feedforward (open loop) controller for the steer-by-wire system based on the concept of reference shaping control aimed at reducing the vibration/oscillation caused in vehicles during fast (evasive) maneuvers.

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提高线控转向车辆偏航稳定性的参考整形控制分析

在道路车辆中加入电子偏航稳定可以采取多种形式。虽然最流行的是差动制动和扭矩分配，但一个潜在的更好的替代方案是在转向过程中加入一个控制器。然而，这在机械耦合转向系统中并不常见，因为控制器可能会违背驾驶员的意图，从而对安全构成潜在挑战。自动驾驶/半自动驾驶车辆越来越多地采用线控转向(SbW)系统，这为简化这种基于转向控制器的辅助系统提供了机会。目前大多数转向辅助系统要么专注于自适应转向控制(自适应动力转向和齿轮传动比)，要么专注于自动驾驶功能中的完全转向控制(车道保持控制)。这种转向控制器(通过SbW模式集成)可以提高驾驶性能和机动性，并为主动安全车辆系统的整体套件做出贡献。在这项研究中，我们基于参考整形控制的概念，为线控转向系统引入了一种新的纯前馈(开环)控制器，旨在减少车辆在快速(规避)机动过程中引起的振动/振荡。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.