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차량 안전성 향상을 위한 모델 예측 제어 기반 4륜 조향 알고리즘

Title
차량 안전성 향상을 위한 모델 예측 제어 기반 4륜 조향 알고리즘
Other Titles
A Model Predictive Control Approach for Vehicle Stability in Four Wheel Steering Vehicles
Author
허건수
Keywords
Four wheel steering system; Model predictive control; Slip angle estimation; Vehicle stability; 4륜 조향 시스템; 모델 예측 제어; 슬립 각 추정; 차량 안정성
Issue Date
2015-11
Publisher
한국자동차공학회
Citation
2015년 한국자동차공학회 학술대회 및 전시회, 2015.11, Page. 345-347
Abstract
This paper presents four wheel steering control scheme to enhance vehicle lateral stability. In 4WS system, it must be considered that large angle of rear wheel makes vehicle unstable. For this purpose, available input range is configured and Model Predictive Control (MPC) approach is used to reduce body slip angle and track desired yaw rate by satisfying this constraints. Extended Kalman Filter (EKF) is used in order to estimate body slip angle. Proposed algorithm was evaluated by MATLAB/Simulink and simulation results show vehicle stability enhancement when doing double lane change in high speed and driving road course in low speed.
URI
http://www.ksae.org/search/index.html?subid=7&no=26318&vol=2http://www.dbpia.co.kr/Journal/ArticleDetail/NODE07124436http://hdl.handle.net/20.500.11754/28743
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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