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차량 안전성 향상을 위한 모델 예측 제어 기반 4륜 조향 알고리즘A Model Predictive Control Approach for Vehicle Stability in Four Wheel Steering Vehicles
- Other Titles
- A Model Predictive Control Approach for Vehicle Stability in Four Wheel Steering Vehicles
- Issue Date
- Nov-2015
- Publisher
- 한국자동차공학회
- Keywords
- Four wheel steering system(4륜 조향 시스템); Model predictive control(모델 예측 제어); Slip angle estimation(슬립 각 추정); Vehicle stability(차량 안정성)
- Citation
- 한국자동차공학회 학술대회 논문집, pp.345 - 347
- Indexed
- OTHER
- Journal Title
- 한국자동차공학회 학술대회 논문집
- Start Page
- 345
- End Page
- 347
- Abstract
- This paper presents four wheel steering control scheme to enhance vehicle lateral stability. In 4WS system, it must be considered that large angle of rear wheel makes vehicle unstable. For this purpose, available input range is configured and Model Predictive Control (MPC) approach is used to reduce body slip angle and track desired yaw rate by satisfying this constraints. Extended Kalman Filter (EKF) is used in order to estimate body slip angle. Proposed algorithm was evaluated by MATLAB/Simulink and simulation results show vehicle stability enhancement when doing double lane change in high speed and driving road course in low speed.
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Collections - 서울 공과대학 > 서울 미래자동차공학과 > 1. Journal Articles
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