Implementation and Performances Evaluation of Advanced Automotive Lateral Stability Controls on a Real-Time Hardware in the Loop Driving Simulator
Abstract
:1. Introduction
2. Control Strategies
- (a)
- Steering angle is small: < 10 deg;
- (b)
- Vehicle longitudinal speed is constant: ;
- (c)
- Tire slip angles are small: deg;
- (d)
- Tire cornering stiffness is known and constant: .
2.1. Linear Quadratic Lateral Tracking Control
2.1.1. Controller Structure
2.1.2. LQR Controller Design
2.1.3. Brake Pressure Splitting Logic
- Checking if the wheel reaches the saturation limit;
- Definition of the pressure quantity by which the saturation limit is exceeded;
- Subtraction of this quantity from the wheel of the other side ensures the allocation of the control yaw moment.
2.2. Sliding Mode Lateral Stability Control
- High-level layer: which defines the control objective according to driver intention and vehicle states, for example, longitudinal speed, side-slip angle, yaw rate;
- Intermediate-level layer: consisting of a first-order Sliding Mode Controller;
- Low-level layer: devoted to the generation of the control references for the actuators, i.e., SBW, BBW, and traction motors.
2.2.1. Modeling Approach: High-Level Layer
2.2.2. Control Theory: Intermediate-Level Layer
2.2.3. Effort Application: Low-Level Layer
3. Real-Time Driving Simulator
- The Real-Time simulator: consisting in a concurrent-RT machine, which manages the simulation environment along with the vehicle model. For non-disclosure reasons, the detailed specifications of the benchmark Use Case (UC) cannot be described. However, it is implemented with stability CU, i.e., EBD, ABS, TCS, and commercial ESP solution. Moreover, it is assumed that the vehicle’s RWD powertrain is actuated to an active differential transmission system;
- The EPSiL steering bench: reproducing the real behavior of the steering system, including the Electric Power Steering system (EPS) and a steering wheel;
- The Braking unit: a by-wire system that includes all the components of a real disc brake plant with independent control of each wheel caliper. Moreover, a virtual sensing regulation loop is considered.
3.1. Epsil Steering Bench
3.2. Braking Unit
4. Simulation Results
4.1. Offline Test Campaigns: Tuning of the Controllers
4.2. Online Test Campaigns: Performance Evaluations
- Non-Controlled Scenario: in this case, the vehicle is driven without the assistance of any kind of lateral stability controller. Thus, it was possible to establish inner vehicle maneuverability and test the driver’s capabilities. Many free driving tests are conducted to identify the limit of controllability;
- Commercial-Controlled Scenario: tests are conducted with the Continental GmbH proprietary ESP controller. The strategy, from our side, is completely unknown. However, we can make some assumptions, supposing the control technique is advanced and represent the SoA of the industrial ESP solutions, which is actually implemented on different vehicles in the market.
- LQR-Controlled Scenario: the Linear Quadratic lateral Tracking Control is tested, thanks to the RT co-simulation capabilities of the virtual environment, between MATLAB Simulink and VI-Grade;
- SMC-Controlled Scenario: here, the Sliding Mode Lateral Stability Controller is investigated, exploiting the same control rig from the previous scenario (ESP in MATLAB Simulink and vehicle model in the VI-Grade).
4.3. Ramp Steer
4.4. Step Steer
4.5. Sine Steer
4.6. Lane Change
5. Conclusions and Future Developments
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
4WD | Four Wheel Drive |
ABS | Anti-lock Braking System |
ASIL | Automotive Safety Integrity Level |
BW | By-Wire |
BBW | Brake-By-Wire |
CoG | Centre of Gravity |
CU | Control Unit |
EBD | Electronic Braking Distributor |
ESP | Electronic Stability Program |
ESC | Electronic Stability Control |
FWD | Front Wheel Drive |
HiL | Hardware in the Loop |
IWM | In-Wheel Motor |
ICE | Internal Combustion Engine |
LQR | Linear Quadratic Regulator |
NL | Non-Linear |
RWD | Rear Wheel Drive |
TCS | Traction Control System |
TV | Torque Vectoring |
SBW | Steer-By-Wire |
SMC | Sliding Mode Control |
UC | Use Case |
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Name | Standard | Purpose |
---|---|---|
Ramp Steer | FMVSS No.126 & ISO 19364:2016 | Calibration |
Step Steer | ISO 7401:2003 | Calibration & Validation |
Sine Steer | ISO 7401:2003 | Validation |
Lane-Change | ISO 3888-1:2018 | Validation |
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Alfatti, F.; Montani, M.; Favilli, T.; Annicchiarico, C.; Berzi, L.; Pierini, M.; Pugi, L.; Capitani, R. Implementation and Performances Evaluation of Advanced Automotive Lateral Stability Controls on a Real-Time Hardware in the Loop Driving Simulator. Appl. Sci. 2023, 13, 6592. https://doi.org/10.3390/app13116592
Alfatti F, Montani M, Favilli T, Annicchiarico C, Berzi L, Pierini M, Pugi L, Capitani R. Implementation and Performances Evaluation of Advanced Automotive Lateral Stability Controls on a Real-Time Hardware in the Loop Driving Simulator. Applied Sciences. 2023; 13(11):6592. https://doi.org/10.3390/app13116592
Chicago/Turabian StyleAlfatti, Federico, Margherita Montani, Tommaso Favilli, Claudio Annicchiarico, Lorenzo Berzi, Marco Pierini, Luca Pugi, and Renzo Capitani. 2023. "Implementation and Performances Evaluation of Advanced Automotive Lateral Stability Controls on a Real-Time Hardware in the Loop Driving Simulator" Applied Sciences 13, no. 11: 6592. https://doi.org/10.3390/app13116592
APA StyleAlfatti, F., Montani, M., Favilli, T., Annicchiarico, C., Berzi, L., Pierini, M., Pugi, L., & Capitani, R. (2023). Implementation and Performances Evaluation of Advanced Automotive Lateral Stability Controls on a Real-Time Hardware in the Loop Driving Simulator. Applied Sciences, 13(11), 6592. https://doi.org/10.3390/app13116592