Lateral Control of Higher Order Nonlinear Vehicle Model in Emergency Maneuvers Using Absolute Positioning GPS and Magnetic Markers

2004 ◽  
Vol 53 (2) ◽  
pp. 372-384 ◽  
Author(s):  
J.I. Hernandez ◽  
C.Y. Kuo
Keyword(s):  
Higher Order ◽  
Vehicle Model ◽  
Lateral Control ◽  
Absolute Positioning ◽  
Nonlinear Vehicle Model ◽  
Magnetic Markers

The stability analysis using Lyapunov exponents for high-DOF nonlinear vehicle plane motion

2021 ◽  
pp. 095440702110433
Author(s):  
Shuming Shi ◽  
Fanyu Meng ◽  
Minghui Bai ◽  
Nan Lin
Keyword(s):  
Stability Analysis ◽  
Quantitative Analysis ◽  
Lyapunov Exponents ◽  
Plane Motion ◽  
Vehicle Model ◽  
Motion Stability ◽  
Motion System ◽  
Nonlinear Vehicle Model ◽  
The Stability ◽  
Different Characteristics

The Lyapunov exponents method is an excellent approach for analyzing the vehicle plane motion stability, and the researchers demonstrated the effectiveness under 2-DOF vehicle model. However, whether the Lyapunov exponents approach can effectively reveal the characteristics of high-DOF nonlinear vehicle model is the key problem at present. In this paper, the Lyapunov exponents is applied to quantitatively analyze the stability of the nonlinear three and five degree of freedom vehicle plane motion system. The different characteristics between 2-DOF and high-DOF model are revealed and explained by using Lyapunov exponents. It illustrates the feasibility of using Lyapunov exponents to analyze the stability of high-DOF vehicle models, which supplements and perfects the existing quantitative analysis conclusion.

Predictive Control of Autonomous Ground Vehicles With Obstacle Avoidance on Slippery Roads

2010 ◽  
Author(s):  
Yiqi Gao ◽  
Theresa Lin ◽  
Francesco Borrelli ◽  
Eric Tseng ◽  
Davor Hrovat
Keyword(s):  
Obstacle Avoidance ◽  
Predictive Control ◽  
Autonomous Vehicles ◽  
Ground Vehicles ◽  
Vehicle Model ◽  
The Road ◽  
On Line ◽  
Nonlinear Vehicle Model ◽  
On The Road ◽  
High Level

Two frameworks based on Model Predictive Control (MPC) for obstacle avoidance with autonomous vehicles are presented. A given trajectory represents the driver intent. An MPC has to safely avoid obstacles on the road while trying to track the desired trajectory by controlling front steering angle and differential braking. We present two different approaches to this problem. The first approach solves a single nonlinear MPC problem. The second approach uses a hierarchical scheme. At the high-level, a trajectory is computed on-line, in a receding horizon fashion, based on a simplified point-mass vehicle model in order to avoid an obstacle. At the low-level an MPC controller computes the vehicle inputs in order to best follow the high level trajectory based on a nonlinear vehicle model. This article presents the design and comparison of both approaches, the method for implementing them, and successful experimental results on icy roads.

Handling Stability Performance Simulation and Analysis of Three Different Vehicle Models

2010 ◽  
Vol 29-32 ◽  
pp. 750-755
Author(s):  
Shu Feng Wang ◽  
Hua Shi Li ◽  
Cui Hua He
Keyword(s):  
Lateral Acceleration ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Performance Simulation ◽  
Vehicle Handling ◽  
Stability Performance ◽  
Body Dynamics ◽  
Nonlinear Vehicle Model ◽  
Simulation Results ◽  
Multi Body

In order to obtain accurate vehicle handling stability performance, 2 DOF nonlinear vehicle model and multi-body dynamics vehicle model are established. Selecting the same vehicle parameters, step steering angle input simulations of three vehicle model (include 2DOF linear vehicle model) are carried out under the same driving conditions, simulation results are analyzed and compared. The simulation results show that 2DOF linear model can characterize the steering states of vehicle when vehicle lateral acceleration is small, but when vehicle lateral acceleration is big, Nonlinear vehicle model and multi-body dynamics model is accurate.

Higher Order Sliding Mode Control for the Tracking Trajectory - The Twisting Algorithm Applied to the Vehicle Model

2014 ◽  
Vol 875-877 ◽  
pp. 2014-2019
Author(s):  
Thierno Mamadou Pathe Diallo ◽  
Hong Sheng Li ◽  
Ning Hui He
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Higher Order ◽  
Control Law ◽  
Sliding Surface ◽  
Vehicle Model ◽  
Major Drawback ◽  
Mode Control ◽  
Twisting Algorithm ◽  
The Impact

In this paper a higher order sliding mode control based on the twisting algorithm is studied. The aim is to prove the impact of the choice of sliding surface in the design of the control law. The simulation results shows, a proper selection of the sliding surface in the design of the control law can eliminate or reduce the phenomenon of reluctance. The phenomenon of reluctance or chattering is a major drawback significant in sliding mode control because, although it is possible to filter the output of the process, it is likely to excite high frequency modes that have not been included in the model of the system. This can degrade performance and even lead to instability. For the design of the control law of vehicle model, two sliding surfaces are integrated; the first show a good tracking in the simulation result with disadvantage of the chattering presence in the control law while the second provide a good performance without chattering.

Research on Lateral Control System for Intelligent Vehicle Based on Magnetic Markers Guidance

2014 ◽  
Vol 543-547 ◽  
pp. 1340-1343
Author(s):  
Fei Shen ◽  
Feng Luo
Keyword(s):  
Control System ◽  
Intelligent Vehicles ◽  
Intelligent Vehicle ◽  
Vehicle Speed ◽  
Lateral Control ◽  
Good Reliability ◽  
Magnetic Markers ◽  
High Control ◽  
Control Accuracy ◽  
Real Vehicle

This paper presents the development of lateral control system for intelligent vehicle based on magnetic markers guidance. A lateral controller based on fuzzy logic is designed for intelligent vehicle that is non-linear controlled object. Simulation results show that the proposed control algorithm can ensure tracking reference path of intelligent vehicles accurately. The function of the system is finally verified by real vehicle experiment and the results show that the control system has high control accuracy, real-time performance and good reliability at an acceptable vehicle speed.

Dynamic Analysis of Self-Energizing Shock Absorber of Suspension for Energy-Regenerative

2011 ◽  
Vol 80-81 ◽  
pp. 746-751
Author(s):  
Ji Sheng Shen ◽  
Xiang Man Ye ◽  
Xiao Bin Ning
Keyword(s):  
Dynamic Analysis ◽  
Simulation Model ◽  
Shock Absorber ◽  
Vehicle Model ◽  
Ride Height ◽  
Vehicle Simulation ◽  
System A ◽  
Nonlinear Vehicle Model ◽  
Multi Body ◽  
Internal Configuration

Design of self-energizing shock absorber of suspension of SVU, a multi degree of freedom mechanism, is a challenge. In order to decay vibration and recycle energy, self-energizing shock absorber was researched. This paper primarily focuses on kinematics and dynamic analysis in multi-body system (MBS) and validation of system. A simulation model for self-energizing shock absorber was built using the software MATLAB, and the establishment of this model was based on the analysis of internal configuration and characteristics of valves. Vehicle simulation model was built using MBS. The assembly between vehicle simulation model and the shock absorber was realized through co-simulation between MBS and MATLAB. The optimal design of suspension is investigated, in order to improve vertical ride and road-friendliness of vehicles, while maintaining enhanced roll stability. A nonlinear vehicle model is developed to study vertical as well as roll dynamics of vehicles. The simulation results shows that suspension with self-energizing shock absorber can partly energy-regenerative which can be used to adjust ride height due to load change of automobile. Self-energizing shock absorber is also improving the ride performance of vehicle.

scholarly journals Newly Developed Nonlinear Vehicle Model for an Active Anti-roll Bar System

2018 ◽  
Vol 7 (4) ◽  
pp. 529-537
Author(s):  
Noraishikin Binti Zulkarnain ◽  
Hairi Zamzuri ◽  
Sarah ’Atifah Saruchi ◽  
Mohd Marzuki Mustafa ◽  
Siti Salasiah Mokri ◽  
...  
Keyword(s):  
Ride Comfort ◽  
Optimization Method ◽  
Ride Quality ◽  
Objective Functions ◽  
Vehicle Model ◽  
Validation Process ◽  
Nsga Ii ◽  
System A ◽  
Nonlinear Vehicle Model ◽  
Benchmark System

This paper presents the development of a newly developed nonlinear vehicle model is used in the validation process of the vehicle model. The parameters chosen in a newly developed vehicle model is developed based on CARSIM vehicle model by using non-dominated sorting genetic algorithm version II (NSGA-II) optimization method. The ride comfort and handling performances have been one of the main objective to fulfil the expectation of customers in the vehicle development. Full nonlinear vehicle model which consists of ride, handling and Magic tyre subsystems has been derived and developed in MATLAB/Simulink. Then, optimum values of the full nonlinear vehicle parameters are investigated by using NSGA-II. The two objective functions are established based on RMS error between simulation and benchmark system. A stiffer suspension provides good stability and handling during manoeuvres while softer suspension gives better ride quality. The final results indicated that the newly developed nonlinear vehicle model is behaving accurately with input ride and manoeuvre. The outputs trend are successfully replicated.

scholarly journals LINEARIZATION OF A NONLINEAR VEHICLE MODEL

2021 ◽  
pp. 33-37
Author(s):  
Lubica Miková
Keyword(s):  
Dynamic Models ◽  
Equations Of Motion ◽  
Lateral Position ◽  
Front Wheel ◽  
Driver Assistance ◽  
Vehicle Model ◽  
Driver Assistance Systems ◽  
Nonlinear Vehicle Model ◽  
Mathematical Equations ◽  
Assistance Systems

The purpose of this article is to create a mathematical model of a vehicle using dynamic equations of motion and simulation of perturbations acting on a vehicle. It is assumed that the tire in the car model behaves linearly. Because the vehicle model is nonlinear, the model will need to be linearized in order to find the transfer function between the angle of rotation of the front wheel and the lateral position of the vehicle. For this purpose, simple dynamic models of the car were created, which reflect its lateral and longitudinal dynamics. These types of models are usually used with a linearized form of mechanical and mathematical equations that are required when designing controllers, active suspension and other driver assistance systems.

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