Abstract
This paper presents a practical approach to developing a speed limiter using a disturbance observer (DOB) and a speed observer. A nominal plant model is designed assuming that the vehicle is a lumped mass. The plant uncertainty and external disturbance are lumped into a disturbance term and compensated for by the DOB. With the contribution of the DOB, the proposed controller can reduce overshoot and minimize steady-state error without feedforward and integrator control. In addition, the speed observer is also designed to reduce the overshoot due to noise such as offset, lag, and communication delay between the display speed and wheel speed, because the proposed controller operates according to the display speed. The proposed controller was validated by vehicle experiments performed on a C-segment hybrid electric vehicle (HEV) and achieved superior performance compared to conventional controllers.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Bickel, R. J. and Tomizuka, M. (1995). Disturbance observer based hybrid impedance control. Proc. American Control Conf.-ACC’95, 1, 729–733. IEEE.
Bin, Y., Li, K., Lian, X., Ukawa, H., Handa, M. and Idonuma, H. (2004). Longitudinal acceleration tracking control of vehicular stop-and-go cruise control system. IEEE Int. Conf. Networking, Sensing and Control, 1, 607–612.
Choi, S., d’Andréa-Novel, B., Fliess, M., Mounier, H. and Villagra, J. (2009). Model-free control of automotive engine and brake for stop-and-go scenarios. European Control Conf. (ECC). Budapest, Hungary.
Dote, Y., Kobayashi, H., Fujikawa, J., Syitno, A. and Strefezza, M. (1990). Disturbance observer-based robust and fast speed controller for induction motors. Conf. Record of the IEEE Industry Applications Society Annual Meeting. Seattle, WA, USA.
Euro NCAP (2017), Test protocol-speed assist system, The European New Car Assessment Programme, 6.
Euro NCAP (2018). Assessment protocol-safety assist, The European New Car Assessment Programme, 26.
Gerdes, J. C. and Hedrick, J. K. (1997). Vehicle speed and spacing control via coordinated throttle and brake actuation. Control Engineering Practice 5, 11, 1607–1614.
Hedrick, J. K., Tomizuka, M. and Varaiya, P. (1994). Control issues in automated highway systems. IEEE Control Systems Magazine 14, 6, 21–32.
Isermann, R. (1995). Nonlinear distance and cruise control for passenger cars. In Advances in Automotive Control 1995, 209–214. Pergamon.
Kang, E., Hong, S. and Sunwoo, M. (2016). Idle speed controller based on active disturbance rejection control in diesel engines. Int. J. Automotive Technology 17, 6, 937–945.
Kim, S., Bang, J. S., Kim, S. and Lee, H. (2020). Robust vehicle speed control using disturbance observer in hybrid electric vehicles. Int. J. Automotive Technology 21, 4, 931–942.
Ministry of Land. (2009). Transport and Maritime Affairs, Regulations for Motor Vehicle Safety Standards, Notification No. 94 (2009-01-23).
Nakao, M., Ohnishi, K. and Miyachi, K. (1987). A robust decentralized joint control based on interference estimation. Proc. IEEE Int. Conf. Robotics and Automation, 4, 326–331.
Naranjo, J. E., González, C., García, R. and De Pedro, T. (2006). ACC+ Stop&go maneuvers with throttle and brake fuzzy control. IEEE Trans. Intelligent Transportation Systems 7, 2, 213–225.
Shakouri, P., Ordys, A., Laila, D. S. and Askari, M. (2011). Adaptive cruise control system: comparing gain-scheduling PI and LQ controllers. IFAC Proc. Volumes 44, 1, 12964–12969.
Shakouri, P., Czeczot, J. and Ordys, A. (2015). Simulation validation of three nonlinear model-based controllers in the adaptive cruise control system. J. Intelligent & Robotic Systems 80, 2, 207–229.
Shim, H. and Jo, N. H. (2009). An almost necessary and sufficient condition for robust stability of closed-loop systems with disturbance observer. Automatica 45, 1, 296–299.
Shim, H. and Joo. Y. J. (2007). State space analysis of disturbance observer and a robust stability condition. 46th IEEE Conf. Decision and Control. New Orleans, LA, USA.
Umeno, T., Kneko, T. and Hori, Y. (1993). Robust servo system design with two degrees of freedom and its application to novel motion control of robot manipulators. IEEE Trans. Industrial Electronics 40, 5, 473–485.
Villagrá, J., Milanés, V., Pérez, J. and González, C. (2010). Model-free control techniques for stop & go systems. 13 th Int. IEEE Conf. Intelligent Transportation Systems. Funchal, Madeira Island, Portugal.
Yang, E. J. and Jo, N. H. (2014). A study on performance improvement of automobile cruise control system: disturbance observer approach. J. Korean Institute of Illuminating and Electrical Installation Engineers 28, 5, 15–22.
Yi, K., Cho, Y., Lee, S., Lee, J. and Ryoo, N. (2000). A throttle/brake control law for vehicle intelligent cruise control. SAE Technical Paper No. 2000-05-0369.
Yuki, K., Murakami, T. and Ohnishi, K. (1993). Vibration control of a 2 mass resonant systems by the resonance ratio control. IEEJ Trans. Industry Applications 113, 10, 1162–1169.
Acknowledgement
This work was supported in part by Hyundai Motor Group and by the Industrial Strategic Technology Development Program (20010132, Development of the systematization technology of e-powertrain core parts development platform for expending the industry of xEV parts) funded By the Ministry of Trade, Industry & Energy (MOTIE, Korea).
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Kim, S., Son, H. & Lee, H. Robust Vehicle Speed Limiter Using Disturbance and Speed Observer. Int.J Automot. Technol. 22, 1475–1483 (2021). https://doi.org/10.1007/s12239-021-0127-y
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-021-0127-y