This paper presents a method to design a robust controller for rollover prevention. Several types of controllers for rollover prevention have been proposed in such a way to minimize the lateral acceleration and the roll angle. The rollover prevention capability of these controllers can be enhanced if the controlled vehicle system is robust to the variation of the height of the center of gravity...

The paper presents the control design of a vehicle, which is driven by four independently driven inwheel electric motors and steered by the steering system. The direction of the vehicle is based on the steering, while driving and braking are based on the electric motors. Since the direction can also be modified by the appropriate operation of the four electric motors, reconfigurable and fault-t...

Conventional engine based vehicles inevitably have complicated structures due to lots of elements. Because of this characteristic, research, development, and also marketing are mainly conducted by the conglomerate, like GM, BMW, Honda, and Hyundai motors, etc. But environmental pollution and fuel exhaustion by the stated vehicle increase the necessity of EV(Electric Vehicle) as a representative...

in this article, vehicle cornering stability and brake stabilization via bifurcation analysis has been investigated. in order to extract the governing equations of motion, a nonlinear four-wheeled vehicle model with two degrees of freedom has been developed. using the continuation software package matcont a stability analysis based on phase plane analysis and bifurcation of equilibrium is perfo...

Abstract This work considers the cooperative trajectory-planning problem along a double lane change scenario for autonomous driving. In this paper, we develop two frameworks to solve based on distributed model predictive control (MPC). The first approach solves single nonlinear MPC problem. general idea is introduce collision cost function in optimization at planning task achieve smooth and bou...

This paper describes a driving torque distribution method for front–and-rear-wheel-independent-drivetype electric vehicles (FRID EVs) in which it is possible to get stable steering on a low friction coefficient road surface. This method is characterized by distributing driving torque to the left and right wheels of the front and rear wheels, considering not only load movement of the longitudina...

The main concern of this paper focuses on the accurate estimation of the vehicle states, including the longitudinal, lateral, and vertical velocities (hence, sideslip angle), as well as the roll and pitch angles. With the input data from the 6D IMU which measures both acceleration and angular velocities of the three axes, the novel merging schemes based on the internally defined concepts of tra...

A robust yaw stability control system is designed to stabilize the vehicle yaw motion. Since the vehicles undergo changes in parameters and disturbances with respect to the wide range of driving condition, e.g., tire-road conditions, a robust control design technique is required to guarantee system stability. In this paper, a sliding mode control methodology is applied to make vehicle yaw rate ...