scholarly journals Design and Analysis of a Self-balancing Bicycle Model

2021 ◽  
Vol 1132 (1) ◽  
pp. 012014
Author(s):  
G Nitheesh kumar ◽  
S Navneeth ◽  
A Suraj ◽  
Pramod Sreedharan
Keyword(s):  
Bicycle Model

Minimum Safety Distances for Emergency Braking Maneuvers in Car-Following Applications

2020 ◽  
Author(s):  
Devin Schafer ◽  
Pingen Chen
Keyword(s):  
Aerodynamic Force ◽  
Lane Change ◽  
Passenger Vehicle ◽  
Lane Changing ◽  
Car Following ◽  
Emergency Braking ◽  
Safety Distance ◽  
Bicycle Model ◽  
Vehicle Efficiency ◽  
Different Types

Abstract Platooning/car following has been considered as a promising approach for improving vehicle efficiency due to the reduction of aerodynamic force when closely following a pilot vehicle. However, safety is a major concern in the close car platooning/following. This paper investigates the minimum inter-vehicle distances required for a passenger vehicle to safely travel behind a heavy-duty truck with three different types of emergency maneuvers. The three emergency maneuvers considered are braking only, steering only, and braking then steering, where steering refers to a single lane change maneuver. Numerical analysis is conducted for deriving the clearance space in the braking only scenario. In addition, simulations are conducted in MATLAB/Simulink, using a bicycle model for the vehicle dynamics, to examine the minimum safe following distance for the other two scenarios. The simulation results show that, for initial vehicle speeds greater than 8 m/s, a lane change maneuver requires the shortest safety distance. Braking followed by lane changing usually requires the largest minimum safety distance.

Self-Steering Characteristics of FSAE Vehicle with a Linear Bicycle Model

2021 ◽  
Vol 13 (3) ◽  
Author(s):  
Prashanth Barathan ◽  
R. Aakash ◽  
Hussain Akbar ◽  
Kapilesh Kathiresh
Keyword(s):  
Critical Speed ◽  
Accurate Prediction ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Angle Variation ◽  
Dynamic Conditions ◽  
Operating Range ◽  
Bicycle Model ◽  
Steering Characteristics

A FSAE car must exhibit precise and predictable handling behaviour since it is subject to driving manoeuvres in dynamic conditions. Therefore, an accurate prediction of its self-steering characteristics becomes vitally important, especially in the expected lateral acceleration operating range. The simulation implements a linear bicycle model of FSAE car in MATLAB and establishes the understeer gradient and the critical speed, thereby aiding the analysis of the steering wheel angle variation required to negotiate the corners of increasing dynamics.

scholarly journals Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller

2018 ◽  
Vol 233 (1) ◽  
pp. 141-151 ◽  
Author(s):  
Armin Norouzi ◽  
Milad Masoumi ◽  
Ali Barari ◽  
Saina Farrokhpour Sani
Keyword(s):  
Optimization Algorithm ◽  
Sliding Mode ◽  
Autonomous Vehicle ◽  
Lane Change ◽  
Lateral Control ◽  
Lane Changing ◽  
Dynamic Constraints ◽  
Bicycle Model ◽  
Double Lane Change ◽  
Backstepping Controller

In this paper, a novel Lyapunov-based robust controller by using meta-heuristic optimization algorithm has been proposed for lateral control of an autonomous vehicle. In the first step, double lane change path has been designed using a fifth-degree polynomial (quantic) function and dynamic constraints. A lane changing path planning method has been used to design the double lane change manoeuvre. In the next step, position and orientation errors have been extracted based on the two-degree-of-freedom vehicle bicycle model. A combination of sliding mode and backstepping controllers has been used to control the steering in this paper. Overall stability of the combined controller has been analytically proved by defining a Lyapunov function and based on Lyapunov stability theorem. The proposed controller includes some constant parameters which have effects on controller performance; therefore, particle swarm optimization algorithm has been used for finding optimum values of these parameters. The comparing result of the proposed controller with backstepping controller illustrated the better performance of the proposed controller, especially in the low road frictions. Simulation of designed controllers has been conducted by linking CarSim software with Matlab/Simulink which provides a nonlinear full vehicle model. The simulation was performed for manoeuvres with different durations and road frictions. The proposed controller has outperformed the backstepping controller, especially in low frictions.

A Systematic Approach to Identifying a Set of Feasible Designs

2017 ◽  
Author(s):  
Hyeongmin Han ◽  
Sehyun Chang ◽  
Harrison Kim
Keyword(s):  
Design Problem ◽  
Constraint Satisfaction Problem ◽  
Optimization Technique ◽  
Iteration Process ◽  
Function Evaluation ◽  
Design Variables ◽  
Bicycle Model ◽  
Engineering Design Problems ◽  
Data Points ◽  
Feasible Solutions

In engineering design problems, designers set boundaries of design variables and solve the system to find the design variables that satisfy a target performance. Once lower and upper bounds for each performance index are set, the design problem becomes Constraint Satisfaction Problem (CSP). In this paper, CSP problem is transformed into an optimization problem with a penalty function. Also, by applying optimization technique, set of feasible solutions are acquired. The set of solutions and all the function evaluation during the iteration process are stored in database. By utilizing a database query, the best solution among the data points are selected for the design problem. For the numerical experiment, a CSP with three variables and a bicycle model of vehicle design is tested with different scenarios.

scholarly journals Bicycle model on climate change education: presenting and evaluating a model

2019 ◽  
Vol 25 (5) ◽  
pp. 717-731 ◽  
Author(s):  
Hannele Cantell ◽  
Sakari Tolppanen ◽  
Essi Aarnio-Linnanvuori ◽  
Anna Lehtonen
Keyword(s):  
Climate Change ◽  
Climate Change Education ◽  
Bicycle Model

Burst Oscillations in the Accelerating Bicycle

2010 ◽  
Vol 77 (6) ◽  
Author(s):  
David J. N. Limebeer ◽  
Amrit Sharma
Keyword(s):  
High Performance ◽  
Dynamic Models ◽  
Ground Plane ◽  
Logarithmic Spiral ◽  
Arbitrary Point ◽  
Time Scale Separation ◽  
Bicycle Model ◽  
Control Scheme ◽  
Road Surfaces ◽  
Time Invariant

The purpose of this paper is to study the dynamics of the accelerating bicycle. It is shown that time-scale separation can be used to study the oscillatory characteristics of the accelerating machine using time-invariant models. These models are used to explain practically observed wobble-mode bursting oscillations that are associated most frequently with down-hill riding. If the vehicle is cornering under constant acceleration, at a fixed roll angle, it is shown that for low values of acceleration (and braking), it follows closely a logarithmic spiral shaped trajectory. The studies presented are facilitated by a novel adaptive control scheme that centers the machine’s trajectory on any arbitrary point in the ground plane. The influences of cambered road surfaces are also investigated. The bicycle model employed is an extension of that originally developed by Whipple, and comprises two road wheels and two laterally-symmetric frame assemblies that are free to rotate relative to each other along an inclined steering axis. For the most part, the front frame is treated as being flexible and the bicycle is fitted with force generating road tires, rather than classical nonholonomic rolling constraints. This research provides the ground work required for generating more complex dynamic models for high-performance motorcycle studies.

A New Yaw Dynamic Model for Improved High Speed Control of a Farm Tractor

2002 ◽  
Vol 124 (4) ◽  
pp. 659-667 ◽  
Author(s):  
David M. Bevly ◽  
J. Christian Gerdes ◽  
Bradford W. Parkinson
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Kinematic Model ◽  
Second Order ◽  
Lateral Control ◽  
Relaxation Length ◽  
High Speeds ◽  
Farm Tractor ◽  
Bicycle Model ◽  
Higher Order Models

This paper presents the system identification of a new model for the farm tractor’s yaw dynamics in order to improve automatic control at higher speeds and understand controller limitations from neglecting these dynamics. As speed increases, higher order models are required to maintain accurate lateral control of the vehicle. Neglecting these dynamics can cause the controller to become unstable at the bandwidths required for accurate control at higher speeds. The yaw dynamic model, which is found to be dominated by a second order response, is identified for multiple speeds to determine the effect of velocity on the model. The second order yaw dynamics cannot be represented by the traditional bicycle model. An analytical derivation shows that the model characteristics can, however, be captured by a model consisting of a significant (non-negligible) relaxation length in the front tire. Experimental results are presented showing that the new yaw dynamic model can provide lateral control of the tractor to within 4 cm (1σ) at speeds up to 8 m/s. These results are shown to be an improvement, at high speeds, over controllers based on models (such as a kinematic model) previously used for control of farm equipment.

Extended bicycle model for needle steering in soft tissue

2015 ◽  
Author(s):  
Bita Fallahi ◽  
Mohsen Khadem ◽  
Carlos Rossa ◽  
Ronald Sloboda ◽  
Nawaid Usmani ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Needle Steering ◽  
Bicycle Model
Sign in / Sign up

Export Citation Format

Share Document