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  • 1.
    Zhang, Wenliang
    et al.
    KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics. School of Mechanical Engineering, Beijing Institute of Technology.
    Drugge, Lars
    KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics.
    Nybacka, Mikael
    KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics.
    Wang, Zhenpo
    School of Mechanical Engineering, Beijing Institute of Technology.
    Active camber for enhancing path following and yaw stability of over-actuated autonomous electric vehicles2020In: Vehicle System Dynamics, ISSN 0042-3114, E-ISSN 1744-5159Article in journal (Refereed)
    Abstract [en]

    Active safety systems contribute significantly to the safe driving of autonomous vehicles in hazardous circumstances. However, conventional active safety systems that mainly depend on braking intervention may not yield the desired vehicle behaviour in critical situations where the tyre forces tend to saturate. Over-actuation through individually cambering the wheels provides a possibility of overcoming this difficulty, as extra lateral tyre forces can potentially be produced. This paper presents active camber for improving the path following and yaw stability performance of over-actuated autonomous electric vehicles (AEVs). With a modified Dugoff tyre model, the camber effect on the lateral tyre force is modelled as an effective linear component. The modified tyre model, together with a double-track vehicle model, is utilised for active camber of the AEVs. The camber controller is developed in the framework of model predictive control (MPC), including both actuator- and safety-related constraints. The camber controller is investigated at different camber rates and road friction levels, in terms of path following, yaw stability and vehicle velocity gain.

  • 2.
    Zhang, Wenliang
    et al.
    KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics. School of Mechanical Engineering, Beijing Institute of Technology.
    Drugge, Lars
    KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics.
    Nybacka, Mikael
    KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics.
    Wang, Zhenpo
    School of Mechanical Engineering, Beijing Institute of Technology.
    Exploring Active Camber for Path Following and Yaw Stability of Autonomous Vehicles2020In: Advances in Dynamics of Vehicles on Roads and Tracks, Springer, 2020, p. 1491-1499Chapter in book (Refereed)
    Abstract [en]

    This paper explores active camber for path following and yaw stability control of over-actuated autonomous electric vehicles (AEVs). The camber effect on tyre force is modelled with a modified Dugoff tyre model, where the influence of tyre slip on camber stiffness is considered. Additionally, a nonlinear vehicle model including the longitudinal, lateral and yaw motion of the vehicle and the rotational motion of the wheels is utilised. The control problem of the AEVs is formulated with model predictive control, where both actuator- and safety-related constraints are considered. Comparative studies show that with four-wheel camber control the path following and yaw stability performance of the AEV can be considerably improved.

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