Studies on improving vehicle handling and lane keeping performance of closed-loop driver-vehicle system with integrated chassis control

  • Authors:

  • Jianyong Wu;Qingping Wang;Xue Wei;Houjun Tang

  • Affiliations:

  • SAIC Motor Technical Center, Shanghai 201804, China;SAIC Motor Technical Center, Shanghai 201804, China;Shanghai Volkswagen Automotive Company Limited, Shanghai 201805, China;Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China

  • Venue:
  • Mathematics and Computers in Simulation
  • Year:
  • 2010

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Abstract

This study proposes a new integrated robust model matching chassis controller to improve vehicle handling performance and lane keep ability. The design framework of the H"~ controller is based on linear matrix inequalities (LMIs), which integrates active rear wheel steering control, longitudinal force compensation and active yaw moment control. To comprehensively evaluate the performance of the integrated chassis control system, a closed-loop driver-vehicle system is used. The effectiveness of the integrated controller on handling performance improvement is tested by a vehicle without driver model under a crosswind disturbance. At the same time, both the handling and lane keeping improving performance of the closed-loop driver-vehicle system is evaluated by tracking an S shape winding road. The simulation results reveal that the integrated chassis controller not only achieves preferable handling performance and stability, but also improves the vehicle lane keep ability significantly, and can alleviate the working load of the driver.