Abstract
In this work, an integrated vehicle control system (IC) is tested in run-off-road scenarios. The integrated approach was employed in order to coordinate vehicle control systems, i.e. the Anti-Lock Brake System (ABS), Four-wheel Steering (4WS) and the Electronic Stability Program (ESP). To perform a run-off-road maneuver, a fuzzy virtual test driver was designed. By receiving the lateral position of an obstacle and the vehicle’s relative yaw angle, the virtual test driver is capable of following a reference trajectory. Furthermore, to test the performance of the standalone controllers, i.e. ABS, ESP and 4WS, individual maneuvers are performed using a multibody vehicle model. The vehicle without any coordination between the control systems is used as reference. For the simulation results, it is concluded that the IC improves the vehicle stability and maneuverability in comparison with the non-integrated approach.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Beal, C.E., Gerdes, J.C.: Model predictive control for vehicle stabilization at the limits of handling. IEEE Trans. Control Syst. Technol. 21(4), 1258–1269 (2013)
Bobier, C.G., Gerdes, J.C.: Staying within the nullcline boundary for vehicle envelope control using a sliding surface. Veh. Syst. Dyn. 51(2), 199–217 (2013)
Castro, A., Rill, G., Weber, H.: Designing an integrated control based on a hierarchical architecture to improve the performance of ground vehicles. In: 23rd ABCM International Congress of Mechanical Engineering (2015)
Erke, A.: Effects of electronic stability control (ESC) on accidents: a review of empirical evidence. Accid. Anal. Prev. 40(1), 167–173 (2008)
Furukawa, Y., Yuhara, N., Sano, S., Takeda, H., Matsushita, Y.: A review of four-wheel steering studies from the viewpoint of vehicle dynamics and control. Veh. Syst. Dyn. 18(1–3), 151–186 (1989)
Reif, K.: Fundamentals of Automotive and Engine Technology. Springer, Bosch professional automotive information (2014)
Rill, G.: Vehicle modeling by subsystems. J. Braz. Soc. Mech. Sci. Eng. 28(4), 430–442 (2006)
Rill, G.: Road Vehicle Dynamics: Fundamentals and Modeling. CRC Press (2011)
Rill, G.: Tmeasy–a handling tire model based on a three-dimensional slip approach. In: Proceedings of the XXIII International Symposium on Dynamic of Vehicles on Roads and on Tracks (IAVSD 2013). Quingdao, China (2013)
Vereniging, R.: Mobiliteit in cijfers auto’s 2013/2014. Technical Report BOVAG-RAI Mobiliteit (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Castro, A., Chaves, R.B., Rill, G., Weber, H.I. (2019). Use of Integrated Control to Enhance the Safety of Vehicles in Run-Off-Road Scenarios. In: Fleury, A., Rade, D., Kurka, P. (eds) Proceedings of DINAME 2017. DINAME 2017. Lecture Notes in Mechanical Engineering(). Springer, Cham. https://doi.org/10.1007/978-3-319-91217-2_30
Download citation
DOI: https://doi.org/10.1007/978-3-319-91217-2_30
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-91216-5
Online ISBN: 978-3-319-91217-2
eBook Packages: EngineeringEngineering (R0)