Lateral dynamics on the vehicle test bed – a steering force module as a validation tool for autonomous driving functions

2018 ◽  
pp. 163-175
Author(s):  
Martin Förster ◽  
Rolf Hettel ◽  
Christian Schyr ◽  
Peter E. Pfeffer
Keyword(s):  
Autonomous Driving ◽  
Test Bed ◽  
Lateral Dynamics ◽  
Vehicle Test ◽  
Validation Tool ◽  
Steering Force

Autonomous Driving on Vehicle Test Tracks: Overview, Implementation and First Results

2000 ◽  
Vol 33 (9) ◽  
pp. 365-368 ◽  
Author(s):  
Hubert Weisser ◽  
Peter J. Schulenberg ◽  
Harald Göllinger ◽  
Rolf Schmidt
Keyword(s):  
Autonomous Driving ◽  
First Results ◽  
Vehicle Test

Experimental Investigation of Freight Car Lateral Dynamics

1981 ◽  
Vol 103 (3) ◽  
pp. 201-210 ◽  
Author(s):  
R. H. Fries ◽  
N. K. Cooperrider ◽  
E. H. Law
Keyword(s):  
Vibration Mode ◽  
Damping Ratio ◽  
Field Tests ◽  
Hunting Behavior ◽  
Lateral Dynamics ◽  
Stability Measure ◽  
Freight Car ◽  
Vehicle Test ◽  
The Stability ◽  
Nonlinear Nature

Field tests and accompanying data analysis to characterize the stable and hunting behavior of freight cars are discussed. These tests confirmed the fundamentally nonlinear nature of the conventional freight car. The hunting performance of an open hopper car is described by speed ranges in which intermittent hunting occurs. At speeds above the intermittent hunting speed ranges, hunting always occurs, and at speeds below these ranges, hunting does not occur. Results of evaluating the stability of the freight car in terms of the natural frequency and damping ratio of the least-damped vibration mode are presented. Anomalies in these results indicate that the damping ratio may not be an adequate stability measure for this nonlinear system. Root-mean-square values of significant vehicle motions are presented for the entire range of vehicle test speeds.

scholarly journals Switching from autopilot to the driver: A transient performance analysis

2019 ◽  
Vol 234 (5) ◽  
pp. 1346-1360 ◽  
Author(s):  
Seshan Ramanathan Venkita ◽  
Dehlia Willemsen ◽  
Mohsen Alirezaei ◽  
Henk Nijmeijer
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous System ◽  
A Priori ◽  
Autonomous Driving ◽  
Special Focus ◽  
Modal Control ◽  
Driving System ◽  
Lateral Dynamics ◽  
Human Driver ◽  
Autonomous Driving System

One of the main safety concerns associated with semi-autonomous vehicles is the sharing of control between a human driver and an autonomous driving system. Even with an attentive driver, such switches in control may pose a threat to the safety of the driver and the surrounding vehicles. The aim of this study is to develop an indicator that can measure the level of safety during a driver take-over, using knowledge about the system known a priori. A model-based approach is used to analyse the system with special focus on the lateral dynamics of the vehicle. The driver and the vehicle are modelled as linear systems, and a path tracking controller is used to serve as an autonomous system. With this structure, shared control is studied as a switched system, in which the vehicle’s lateral control switches between the autonomous system and the driver. A bound on the transient dynamics that arise due to a switch is derived, using the induced [Formula: see text] norm. This bound is then used to formulate an indicator that checks if the states/outputs of interest are within acceptable limits. A comparison with simulation results has shown that the indicator successfully captures the effect of different system parameters on take-over safety, although in a slightly conservative manner. This indicator can be further developed as a tool to be used in the design and evaluation of shared-/multi-modal control systems in future vehicles.

Fault Tolerant Control Applied to a Quadrotor Unmanned Helicopter

2011 ◽  
Author(s):  
Tong Li ◽  
Youmin Zhang ◽  
Brandon Gordon
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Good Control ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
Unmanned Helicopter ◽  
Test Bed ◽  
Quadrotor Uav ◽  
Model Control ◽  
Vehicle Test

In this paper, two sliding mode based fault tolerant control (SM-FTC) strategies are designed, implemented and flight-tested in a physical quadrotor unmanned helicopter under the propeller damage and actuator fault conditions. Sliding model control (SMC) is well known for its capability of handling uncertainty and is expected to be a robust controller. Based on the concept of sliding mode control, both passive and active fault tolerant controls have been designed and experimentally tested on a quadrotor UAV (unmanned aerial vehicle) test-bed, known as Qball-X4, available at Concordia University in the presence of actuator faults and propeller damages. These two types of controllers are carried out and compared through theoretical analysis, simulation, and experimental flight tests on the quadrotor UAV system. Good control performance has been achieved in the presence of actuator faults and propeller damages.

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