Multi-Layer Control and Simulation of the Lateral Stability on Commercial Vehicle

Abstract

When the vehicle is driven at a high speed under extreme condition, it is prone to generate instability such as sideslip and rollover. Compared with passenger vehicles, heavier commercial vehicles have higher probability of accident and more serious consequence. However, less research has been done on active safety systems of commercial vehicles. This paper explores a layered control algorithm for commercial vehicles which can control the yaw moment, the slip ratio and the throttle opening together, so as to improve the lateral stability of the vehicle with high speed on a wet and slippery road. The active yaw-moment control adopts fuzzy-PID algorithm, and logic threshold algorithm is applied to control slip-rate and throttle. Finally, the double lane-change test of the commercial vehicle was jointly simulated under the extreme working condition. The simulation results show that the commercial vehicle with this integrated controller has higher active safety performance.