Adaptive Variable Weights Tuning in an Integrated Chassis Control for Lateral Stability Enhancement

횡방향 안정성 향상을 위한 통합 섀시 제어의 적응 가변 가중치 조절

  • Received : 2015.07.08
  • Accepted : 2015.11.30
  • Published : 2016.01.01


This paper presents an adaptive variable weights tuning system for an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) for lateral stability enhancement. After calculating the control yaw moment needed to stabilize a vehicle with a controller design method, it is distributed into the tire forces generated by ESC and AFS using weighted pseudo-inverse-based control allocation (WPCA). On a low friction road, lateral stability can deteriorate due to high vehicle speed. To cope with the problem, adaptive tuning rules on variable weights of the WPCA are proposed. To check the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, CarSim.


Integrated Chassis Control;Electronic Stability Control;Active Front Steering;Lateral Stability;Weighted Pseudo-Inverse Based Control Allocation


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Supported by : 서울과학기술대학교