Integrated chassis control with adaptive algorithms

Abstract

This paper presents the application of adaptive algorithms to integrated chassis control. Integrated chassis control uses electronic stability control and active front steering as actuators. In order to generate the control yaw moment using electronic stability control and active front steering, and to coordinate the relative magnitude of the tyre force generated by active front steering with that generated by electronic stability control, a fast and simple yaw moment distribution procedure is needed. For this purpose, adaptive methods, namely the least-mean-square algorithm, the sign–sign least-mean-squares algorithm and the leaky least-mean-square algorithm, are applied. To coordinate active front steering and electronic stability control in the leaky least-mean-square algorithm, a particular weight set is selected. To check the effectiveness of the adaptive algorithms in integrated chassis control, simulations using the vehicle simulation package CarSim® were carried out.