{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:40:10Z","timestamp":1777927210550,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2019,1,14]],"date-time":"2019-01-14T00:00:00Z","timestamp":1547424000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"European Funding for Research and Innovation","award":["653511"],"award-info":[{"award-number":["653511"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2019,8]]},"abstract":"<jats:p>The increasing number of cars leads to traffic congestion and limits parking issue in urban area. The narrow tilting vehicles therefore can potentially become the next generation of city cars due to its narrow width. However, due to the difficulty in leaning a narrow tilting vehicle, a drive assistance strategy is required to maintain its roll stability during a turn. This article presents an effective approach using torque vectoring method to assist the rider in balancing the narrow tilting vehicles, thus reducing the counter-steering requirements. The proposed approach is designed as the combination of two torque controllers: steer angle\u2013based torque vectoring controller and tilting compensator\u2013based torque vectoring controller. The steer angle\u2013based torque vectoring controller reduces the counter-steering process via adjusting the vectoring torque based on the steering angle from the rider. Meanwhile, the tilting compensator\u2013based torque vectoring controller develops the steer angle\u2013based torque vectoring with an additional tilting compensator to help balancing the leaning behaviour of narrow tilting vehicles. Numerical simulations with a number of case studies have been carried out to verify the performance of designed controllers. The results imply that the counter-steering process can be eliminated and the roll stability performance can be improved with the usage of the presented approach.<\/jats:p>","DOI":"10.1177\/0959651818823589","type":"journal-article","created":{"date-parts":[[2019,1,14]],"date-time":"2019-01-14T03:57:00Z","timestamp":1547438220000},"page":"788-800","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Torque vectoring\u2013based drive: Assistance system for turning an electric narrow tilting vehicle"],"prefix":"10.1177","volume":"233","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8716-6024","authenticated-orcid":false,"given":"Yaxing","family":"Ren","sequence":"first","affiliation":[{"name":"School of Engineering, University of Glasgow, Glasgow, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Truong Quang","family":"Dinh","sequence":"additional","affiliation":[{"name":"Warwick Manufacturing Group (WMG), University of Warwick, Coventry, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James","family":"Marco","sequence":"additional","affiliation":[{"name":"Warwick Manufacturing Group (WMG), University of Warwick, Coventry, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Greenwood","sequence":"additional","affiliation":[{"name":"Warwick Manufacturing Group (WMG), University of Warwick, Coventry, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,1,14]]},"reference":[{"key":"bibr1-0959651818823589","first-page":"1085","volume-title":"Proceedings of the 5th international conference on control, decision and information technologies (CoDIT)","author":"Ren Y"},{"key":"bibr2-0959651818823589","unstructured":"RESOLVE project, 2018, http:\/\/www.resolve-project.eu\/events\/"},{"key":"bibr3-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2006.1700045"},{"key":"bibr4-0959651818823589","first-page":"2488","volume-title":"International conference on systems, man and cybernetics (SMC)","author":"Claveau F"},{"key":"bibr5-0959651818823589","doi-asserted-by":"publisher","DOI":"10.3390\/su7067784"},{"key":"bibr6-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2583400"},{"key":"bibr7-0959651818823589","volume-title":"The dynamics and control of a three-wheeled tilting vehicle","author":"Van Poelgeest A","year":"2011"},{"key":"bibr8-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1119\/1.19504"},{"key":"bibr9-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2295684"},{"key":"bibr10-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1080\/00423119808969376"},{"key":"bibr11-0959651818823589","volume-title":"7th international symposium on advanced vehicle control","author":"Van Den Brink CR"},{"key":"bibr12-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1080\/00423110701352987"},{"key":"bibr13-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2013.2289371"},{"key":"bibr14-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1016\/S0389-4304(98)00070-8"},{"key":"bibr15-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2017.2709799"},{"key":"bibr16-0959651818823589","first-page":"16","volume":"18","author":"Sawase K","year":"2006","journal-title":"Mitsubishi Mot Tech Rev"},{"key":"bibr17-0959651818823589","first-page":"14","volume":"20","author":"Sawase K","year":"2008","journal-title":"Mitsubishi Mot Tech Rev"},{"key":"bibr18-0959651818823589","doi-asserted-by":"crossref","unstructured":"Kang J, Kyongsu Y, Heo H. Control allocation based optimal torque vectoring for 4WD electric vehicle. SAE Technical paper 2012-01-0246, 2012.","DOI":"10.4271\/2012-01-0246"},{"key":"bibr19-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2012.2188921"},{"key":"bibr20-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2012.2232947"},{"key":"bibr21-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2513063"},{"key":"bibr22-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2294358"},{"key":"bibr23-0959651818823589","volume-title":"Tire and vehicle dynamics","author":"Pacejka H","year":"2005"},{"key":"bibr24-0959651818823589","volume-title":"Tire modeling and friction estimation","author":"Svendenius J","year":"2007"},{"key":"bibr25-0959651818823589","volume-title":"American control conference","author":"Kidane S"},{"key":"bibr26-0959651818823589","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2035819"},{"key":"bibr27-0959651818823589","first-page":"1923","volume-title":"Proceedings of the industry applications society annual meeting","volume":"2","author":"Ohm DY"},{"key":"bibr28-0959651818823589","unstructured":"Gohl J, Rajamani R, Starr P, et al. Development of a novel tilt-controlled narrow commuter vehicle, 2006, http:\/\/www.its.umn.edu\/Publications\/ResearchReportsportdetail.html?id=1057"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651818823589","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651818823589","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651818823589","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:37:50Z","timestamp":1777675070000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651818823589"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,1,14]]},"references-count":28,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2019,8]]}},"alternative-id":["10.1177\/0959651818823589"],"URL":"https:\/\/doi.org\/10.1177\/0959651818823589","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"value":"0959-6518","type":"print"},{"value":"2041-3041","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,1,14]]}}}