3D 가변 조향 비 맵을 이용한 AFS와 ESC 통합 제어기의 설계

Abstract

The purpose of this study is to design an UCC(Unified Chassis Controller) composed of AFS(Active Front Steering), which is based on 3D VSR(Variable Steering Ratio) map, and ESC(Electronic Stability Control). AFS and ESC control the yaw motion and side-slip angle of vehicle to improve steering performance and driving stability. The proposed 3D VSR map is made up with longitudinal velocity and steering angle considering the yaw rate gain and steering sensitivity. The gear ratio decreases to relieve a burden of drivers and increases to improve maneuver stability at low and high speed, respectively. In addition, the purposed VSR map takes account of steering angle to cope with emergency. Desired yaw rate is calculated from bicycle model and tracked by model predictive control(MPC). The proposed algorithm is validated by using the computer simulation software, CarSim and MATLAB/Simulink.