전륜 횡력 포화 시 요모멘트 보상을 위한 통합 섀시 제어

Abstract

In this paper, we present the integrated chassis control strategy with electronic stability control (ESC), active rear steering (ARS) and torque vectoring device (TVD) under the saturation of the lateral tire force on front wheels, caused by the excessive application of active front steering (AFS). The control yaw moment was calculated using sliding mode control. Contrary to the previously proposed method that uses the optimization-based method, the simple distribution method was adopted under the assumption that a single actuator of the chassis control system was used for yaw moment distribution. The lateral tire forces of front wheels were easily saturated by the excessive sole application of AFS. To cope with the situation, the corrective steering angle of AFS has been limited, and it compensated the loss of the control yaw moment with ESC, ARS and TVD in this paper. For verification of the effectiveness of the proposed control method, simulation has been performed via the vehicle simulation tool package, CarSim. From simulation, it has been verified that the proposed method can enhance maneuver performance and lateral stability if the lateral forces on front wheels are saturated.