Sliding mode observers for vehicle mode detection

摘要

This paper explores the use of sliding mode observers to detect the onset of potentially dangerous vehicle modes such as oversteer, understeer or split-μ braking. Provided these modes can be detected quickly enough, existing stability controllers can be engaged to ensure safe performance of the vehicle. It is shown that the equivalent output error injection signals associated with the sliding mode observer have distinctive signatures depending on the particular mode encountered. Appropriate thresholds on these signals can be set so the scheme ignores variations which arise during normal driving, but can detect and isolate different undesirable vehicle modes within 0.3 seconds of their onset.