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Development and Evaluation of ESP Systems for Enhancement of Vehicle Stability during Cornering (II)

차량의 선회시 주행 안정성 강화를 위한 ESP 시스템 개발 및 성능 평가 (II)

  • 송정훈 (인제대학교 기계자동차공학부)
  • Published : 2006.12.01

Abstract

Two yaw motion control systems that improve a vehicle lateral stability are proposed in this study: a rear wheel steering yaw motion controller (SESP) and an enhanced rear wheel steering yaw motion controller (ESESP). A SESP controls the rear wheels, while an ESESP steers the rear wheels and front outer wheel to allow the yaw rate to track the reference yaw rate. A 15 degree-of-freedom vehicle model, simplified steering system model, and driver model are used to evaluate the proposed SESP and ESESP. A robust anti-lock braking system (ABS) controller is also designed and developed. The performance of the SESP and ESESP are evaluated under various road conditions and driving inputs. They reduce the slip angle when braking and steering inputs are applied simultaneously, thereby increasing the controllability and stability of the vehicle on slippery roads.

Keywords

ESP(Electronic Stability Program);Yaw Rate;Lateral Acceleration;Slip Angle;Slip;4WS(Four Wheel Steer)

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