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통합 샤시 제어를 위한 횡방향 안전성 판단 조건에 관한 연구
안국진,좌은혁,고영일,이경수,손기모,Ann, Kookjin,Joa, Eunhyek,Koh, Youngil,Yi, Kyongsu,Sohn, Kimo 한국자동차안전학회 2017 자동차안전학회지 Vol.9 No.2
This paper presents the lateral stability criteria for integrated chassis control. To determine the intervention timing of chassis control system, the lateral stability criteria is needed. The proposed lateral stability criteria is based on velocity-yawrate gain domain to determine whether vehicle is stable. If the yawrate gain violates the proposed criteria, the stability of the vehicle is considered as unstable. Characteristic velocity and critical velocity are employed to distinguish lateral stability criteria. The inside of the two boundaries is stable and the outside is unstable. If yawrate gain of vehicle violates the lateral stability criteria, the chassis control begin to intervene. To validate the lateral stability criteria, both computer simulations and vehicle test are conducted with respect to circular turn scenario. The proposed lateral stability criteria makes it possible to reduce intervention of chassis control system.