Method of Determining Parameters of Motion of Wheeled Vehicles to Ensure the Operation of Active Safety Systems

Controllability and stability of a vehicle are its crucial performance characteristics that form an integral part of its active safety system. The need to improve vehicle controllability and stability is recognized worldwide. One of the major problems in developing algorithms for vehicle active safety systems lies in obtaining reliable data on the values of vehicle motion parameters. This information makes it possible to evaluate how these parameters meet those set by the driver, predict the occurrence of emergency situations and determine the type of emergency, for example, front or rear axle skidding, rollover hazard, etc. One of the most commonly used parameters characterizing the conditions of motion of multi-wheeled vehicles is the deviation angle of the actual velocity vector of the center of mass of the vehicle from the theoretical (kinematic) velocity vector. However, determining the direction of the actual velocity vector of the center of mass is associated with serious computational difficulties due to the need to apply complex predictive Kalman filtering to compensate for the errors accumulated when the accelerations are integrated. The article proposes a method for determining the actual deviation angle of the velocity vector of the center of mass in a horizontal plane from the direction of the longitudinal axis of the wheeled vehicle that does not require integration and complex filtering algorithms. It increases the accuracy and processing speed of the algorithms of dynamic stabilization of the vehicle.

References

[1] Belousov B.N., Popov S.D. Kolesnye transportnye sredstva osobo bol’shoi gruzopod"emnosti. Konstruktsiia. Teoriia. Raschet [Wheeled vehicles especially heavy-duty vehicles. Design. Theory. Calculation]. Moscow, Bauman Press, 2006. 728 p.

[2] Riazantsev V.I. Aktivnoe upravlenie skhozhdeniem koles avtomobilia [Active management toe car]. Moscow, Bauman Press, 2007. 212 p.

[3] Karogal I., Ayalew B. Independent Torque Distribution Strategies for Vehicle Stability Control. SAE Technical Papers, 2009, doi: 10.4271/2009-01-0456.

[4] Osborn R., Shim T., Independent Control of All-Wheel-Drive Torque Distribution. SAE Technical Paper, 2004-01-2052, 2004, doi: 10.4271/2004-01-2052.

[5] Mammar S., Baghdassarian V.B. Two-degree-of-freedom formulation of vehicle handling improvement by active steering. Proceedings of the American Control Conference, 2000, vol. 1, pp. 105–109.

[6] Yoshimoto K., Tanaka H., Kawakami S. Proposal of driver assistance system for recovering vehicle stability from unstable states by automatic steering. Proceedings of the IEEE International Vehicle Electronics Conference, Changchun, China, September 6–9, 1999, pp. 514–519.

[7] Rodrigues A.O. Evaluation of an active steering system. Master’s degree project. Sweden, 2004. Available at: http://people.kth.se/~kallej/grad_students/rodriguez_orozco_thesis04.pdf <неи(accessed 1 December 2014).

[8] Langson W., Alleyne A. Multivariable bilinear vehicle control using steering and individual wheel torques. Proceedings of the American Control Conference, 1997, vol. 2, pp. 1136–1140.

[9] Mokhiamar O., Abe M. Active wheel steering and yaw moment control combination to maximize stability as well as vehicle responsiveness during quick lane change for active vehicle handling safety. Journal of Automobile Engineering, 2002, vol. 216(2), pp. 115–124.

[10] Larin V.V. Teoriia dvizheniia polnoprivodnykh kolesnykh mashin [Theory of motion-wheel drive wheeled machines]. Moscow, Bauman Press, 2010. 391 p.

[11] Marokhin S.M. Prognozirovanie kharakteristik podvizhnosti spetsavtomobilia, osnashchennogo sistemami aktivnoi bezopasnosti. Diss. kand. tekhn. nauk [Forecasting performance mobility spetcavtomobilja equipped active safety systems. Cand. tehn. sci. diss.]. Moscow, 2005. 16 p.

[12] Zhileikin M.M., Chuliukin A.O. Algoritm raboty sistemy dinamicheskoi stabilizatsii dlia avtomobilia 4х4 s podkliuchaemoi zadnei os’iu [Algorithm of Dynamic Stabilization System for a Car 4?4 with a Link Rear Axle]. Nauka i obrazovanie. MGTU im. N.E. Baumana [Science and Education. Bauman MSTU]. 2014, no. 4. Available at: http://technomag.bmstu.ru/doc/704685.html (accessed 20 May 2015), doi: 10.7463/0414.0704685.

[13] Ryu J., Gerdes J.C. Estimation of vehicle roll and road bank angle. Proceedings of the American Control Conference, 2004, vol. 3, pp. 2110–2115.