Improving off-road vehicle lateral stability with integrated chassis control

Abstract

This study investigates the improvement of off-road vehicle lateral stability by integrated control of active rear steering (ARS) and rear differential braking (RDB) and how the performance of such systems compares on smooth and rough roads. The ARS and RDB controllers each comprise a sliding mode controller (SMC) for which the choice of reference model, SMC gain and integration rule are key design choices.

Findings include that the kinematic model reference error is a preferred reference model over the phase plane location error on both terrains, the SMC gain is terrain dependant, and rear axle slip angle is a preferred integration rule over the stability index (SI) on both terrains. The study also found that RDB, and to a lesser degree ARS, tends to improve on the baseline vehicle path following ability for a double lane change (DLC) manoeuvre on both terrains, but RDB has a larger loss of speed compared to ARS. Rear axle slip angle was found to be a terrain dependant tuneable integration rule to combine ARS and RDB, and resulted in a control system that has the good path following ability of RDB but low loss of speed associated with ARS after tuning.