The capability of over-actuated vehicles to maintain stability during limit handling is studied in this paper. A number of important differently actuated vehicles, equipped with hydraulic brakes toward more advanced chassis solutions, are presented. A virtual evaluation environment has specifically been developed to cover the complex interaction between the driver and the vehicle under control. In order to fully exploit the different actuators setup, and the hard nonconvex constraints they possess, the principle of control allocation by nonlinear optimization is successfully employed. The final evaluation is made by exposing the driver and the over-actuated vehicles to a safety-critical double lane change. Thereby, the differently actuated vehicles are ranked by a quantitative indicator of stability.
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September 2011
Research Papers
Utilization of Actuators to Improve Vehicle Stability at the Limit: From Hydraulic Brakes Toward Electric Propulsion
Mats Jonasson,
Mats Jonasson
Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg
, Sweden
; KTH Vehicle Dynamics, SE-100 44 Stockholm, Sweden e-mail:
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Johan Andreasson,
Johan Andreasson
Modelon AB, Ideon Science Park, SE-223 70 Lund, Sweden
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Stefan Solyom,
Stefan Solyom
Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg
, Sweden
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Bengt Jacobson,
Bengt Jacobson
Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg
, Sweden
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Annika Stensson Trigell
Annika Stensson Trigell
KTH Vehicle Dynamics, SE-100 44 Stockholm
, Sweden
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Mats Jonasson
Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg
, Sweden
; KTH Vehicle Dynamics, SE-100 44 Stockholm, Sweden e-mail:
Johan Andreasson
Modelon AB, Ideon Science Park, SE-223 70 Lund, Sweden
Stefan Solyom
Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg
, Sweden
Bengt Jacobson
Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg
, Sweden
Annika Stensson Trigell
KTH Vehicle Dynamics, SE-100 44 Stockholm
, Sweden
J. Dyn. Sys., Meas., Control. Sep 2011, 133(5): 051003 (10 pages)
Published Online: July 27, 2011
Article history
Received:
October 26, 2009
Revised:
January 13, 2011
Online:
July 27, 2011
Published:
July 27, 2011
Citation
Jonasson, M., Andreasson, J., Solyom, S., Jacobson, B., and Stensson Trigell, A. (July 27, 2011). "Utilization of Actuators to Improve Vehicle Stability at the Limit: From Hydraulic Brakes Toward Electric Propulsion." ASME. J. Dyn. Sys., Meas., Control. September 2011; 133(5): 051003. https://doi.org/10.1115/1.4003800
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