Electric power steering(EPS) system and electronic stability program(ESP) play an important role in ensuring the vehicle good handling stability and driving safety. For the coupling factors exist in the vehicles’ longitudinal and lateral dynamics, a coordinated control strategy of EPS and ESP based on vehicle driving safe boundary is proposed. An EPS model is established, aligning torque is estimated by Luenberger observer, and tire-road friction coefficient is estimated from the aligning torque information. Driving safe boundary consisting of sideslip angle and yaw rate is determined by the vehicle dynamics features, according to the established safe boundary and steering wheel torque, yaw rate information etc., EPS and ESP dynamic coordinated control factors are optimized by the elitist non-dominated sorting genetic algorithm(NSGA-II), and guarantee obtaining a global optimal solution of the parameters. The simulation and experiment results validate the EPS and ESP coordinated control strategy based on driving safe boundary, can improve the driving stability of the vehicle, thus the effectiveness of the proposed control strategy is verified.
WANG Qidong
,
WANG Jinbo
,
CHEN Wuwei
,
HUANG He
. Coordinated Control Strategy of EPS and ESP Based on Vehicle Driving Safe Boundary[J]. Journal of Mechanical Engineering, 2016
, 52(6)
: 99
-107
.
DOI: 10.3901/JME.2016.06.099
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