Hoteit, Rawan (American University of Beirut), Daher, Naseem (American University of Beirut)

3D Envelope-Based Global Chassis Control of Ground Vehicles

Scheduled for presentation during the Regular Session "Driver Assistance Systems I" (FrAT11), Friday, September 27, 2024, 11:30−11:50, Salon 19

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on December 26, 2024

Abstract

The paper presents a novel 3D stability region to stabilize the dynamics of ground vehicles using direct measurements from an inertial measurement unit (IMU). Notably, this method eliminates the necessity for state estimators in defining the stability envelope. A hierarchical control architecture is subsequently formulated based on this envelope, which employs upper-level controllers that calculate corrective yaw and roll moments to ensure both planar and rollover stability, thereby attaining global stability. We then introduce two control allocation indices — based on the 3D stability envelope — which are integrated into a dynamically-changing control allocation scheme that coordinates three active safety systems: active front steering (AFS), differential braking, and active suspension (AS), while considering the dynamics. The control scheme is referred to as Envelope-based Global Chassis Controller (EGCC), and it is validated against a standard electronic stability controller (ESC) via a Sine-With-Dwell maneuver using the CarSim-Simulink environment. The proposed control architecture bestows a 62.6 % decrease in sideslip and 69.2 % smaller roll angle in comparison to the commercially-available ESC.