• Title, Summary, Keyword: Yaw Rate

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Development of Angular Rate Sensor for an Electronic Stability Program (전자식 주행안전 장치를 위한 각속도 센서 개발)

  • Kim, Byeong-Woo
    • Journal of the Korean Society for Precision Engineering
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    • v.24 no.10
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    • pp.83-90
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    • 2007
  • The vehicle dynamic control system needs to detect the yaw rate of vehicle and a yaw rate sensor is required as a central component. Therefore, A sensor on the basic of the "tuning fork method" for automotive controls is being developed. The sensor was fabricated by the surface micro machining process to miniaturize its size. The sensor output offset is ${\pm}0.37^{\circ}/sec$ in the room temperature. The resonance frequency of the fabricated yaw rate sensor is measured to 5.29kHz for the drive mode. Tests of the sensor demonstrate that its performance is equivalent to that required for implementation of a yaw control system. Vehicle handling and safety are substantially improved using the sensor to implement yaw control.

Lateral Control of Autonomous Vehicle by Yaw Rate Feedback

  • Yoo, Wan-Suk;Park, Ju-Yong;Hong, Seong-Jae;Park, Kyoung-Taik;Lee, Man-Hyung
    • Journal of Mechanical Science and Technology
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    • v.16 no.3
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    • pp.338-343
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    • 2002
  • In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.

Design and experiment of fuzzy PID yaw rate controller for an electrically driven four wheel vehicle without steering mechanism

  • I, H
    • Journal of the Korean Institute of Intelligent Systems
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    • v.9 no.5
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    • pp.480-489
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    • 1999
  • Design and experimental results of yaw rate controller is described for electricallydriven four wheel vehicle without steering mechanism. Yaw rate controller has been known to be necessary to cope with nonlinear char-acteristics of the wheel/road conditions with respect to different road condition and steering angle. For an effective yaw rate control, a fuzzy PID gain scheduler is considered with changing control parameters. In order to apply proposed algorithm to the system a downsized four wheel drive electrically driven vehicle without steering mechanism was manufactured. With these techniques the proposed yaw rate controller is shown by experiment results to be obtained suficient performance in the whole steering regions.

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Lateral Stability Control of Electric Vehicle Based On Disturbance Accommodating Kalman Filter using the Integration of Single Antenna GPS Receiver and Yaw Rate Sensor

  • Nguyen, Binh-Minh;Wang, Yafei;Fujimoto, Hiroshi;Hori, Yoichi
    • Journal of Electrical Engineering and Technology
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    • v.8 no.4
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    • pp.899-910
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    • 2013
  • This paper presents a novel lateral stability control system for electric vehicle based on sideslip angle estimation through Kalman filter using the integration of a single antenna GPS receiver and yaw rate sensor. Using multi-rate measurements including yaw rate and course angle, time-varying parameters disappear from the measurement equation of the proposed Kalman filter. Accurate sideslip angle estimation is achieved by treating the combination of model uncertainties and external disturbances as extended states. Active front steering and direct yaw moment are integrated to manipulate sideslip angle and yaw rate of the vehicle. Instead of decoupling control design method, a new control scheme, "two-input two-output controller", is proposed. The extended states are utilized for disturbance rejection that improves the robustness of lateral stability control system. The effectiveness of the proposed methods is verified by computer simulations and experiments.

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))

  • Song, Jeong-Hoon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.30 no.12
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    • pp.1551-1556
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    • 2006
  • 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.

Vehicle Lateral Stability Management Using Gain-Scheduled Robust Control

  • You, Seung-Han;Jo, Joon-Sang;Yoo, Seung-Jin;Hahn, Jin-Oh;Lee, Kyo-Il
    • Journal of Mechanical Science and Technology
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    • v.20 no.11
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    • pp.1898-1913
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    • 2006
  • This paper deals with the design of a yaw rate controller based on gain-scheduled H$\infty$ optimal control, which is intended to maintain the lateral stability of a vehicle. Uncertain factors such as vehicle mass and cornering stiffness in the vehicle yaw rate dynamics naturally call for the robustness of the feedback controller and thus H$\infty$ optimization technique is applied to synthesize a controller with guaranteed robust stability and performance against the model uncertainty. In the implementation stage, the feed-forward yaw moment by driver's steer input is estimated by the disturbance observer in order to determine the accurate compensatory moment. Finally, HILS results indicate that the proposed yaw rate controller can satisfactorily improve the lateral stability of an automobile.

Design of a Robust Controller to Enhance Lateral Stability of a Four Wheel Steer Vehicle with a Nonlinear Observer (비선형 관측기를 이용한 사륜조향 차량의 횡방향 안정성 강화를 위한 강인 제어기 설계)

  • Song, Jeong-Hoon
    • Transactions of the Korean Society of Automotive Engineers
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    • v.15 no.6
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    • pp.120-127
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    • 2007
  • This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

CONTROL PHILOSOPHY AND ROBUSTNESS OF ELECTRONIC STABILITY PROGRAM FOR THE ENHANCEMENT OF VEHICLE STABILITY

  • Kim, D.S.;Hwang, I.Y.
    • International Journal of Automotive Technology
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    • v.7 no.2
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    • pp.201-208
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    • 2006
  • This paper describes the control philosophy of ESP(Electronic Stability Program) which consists of the stability control the fault diagnosis and the fault tolerant control. Besides the functional performance of the stability control, robustness of control and fault diagnosis is focused to avoid the unnecessary activation of the controller. The look-up tables are mentioned to have the accurate target yaw rate of the vehicle and obtained from vehicle tests for the whole operation range of the steering wheel angle and the vehicle speed. The wheel slip control with a design goal of wheel slip invariance is implemented for the yaw compensation and the target wheel slip is determined by difference between the target yaw rate and actual yaw rate. Since the ESP has a high severity level and the robust control is required, the robustness margin for the stability control is determined according to several uncertainties and the robust fault diagnosis is performed. Both computer simulation and test results are shown in this paper.

Using Lateral Acceleration and Yaw Rate, Sliding Observer Design for Roll Angle (횡방향 가속도 및 요 속도를 이용한 차량의 롤 각 추정기 설계)

  • Lee, Jong-Kuk;Kwon, Young-Shin;Lee, Hyeong-Cheol
    • Transactions of the Korean Society of Automotive Engineers
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    • v.19 no.4
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    • pp.38-46
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    • 2011
  • This paper presents roll angle estimator which used Kalman filter. Recently, the uses of the ELSD (Electronic Limited Slip Differential) and TVD(Torque Vectoring Differential) for vehicle yaw control are studied in many researches. However the roll angle can be negative effect of ELSD and TVD control. Therefore the information of roll angle can be used for vehicle yaw control. Moreover it can be used for rollover prevent control. Recently, most of the vehicles use lateral acceleration and yaw rate sensor. In this paper, design of Kalman filter which used lateral acceleration and yaw rate information is developed. In this paper, in order to verify the estimator ability, the CarSim and Matlab/Simulink are used.