scholarly journals Assessment methodology for validation of vehicle dynamics simulations using double lane change maneuver

2012 ◽  
Author(s):  
Emir Kutluay ◽  
Hermann Winner
Keyword(s):  
Vehicle Dynamics ◽  
Lane Change ◽  
Assessment Methodology ◽  
Double Lane Change ◽  
Dynamics Simulations

Asymmetric Energy Harvesting and Hydraulically Interconnected Suspension: Modeling and Validations

2019 ◽  
Author(s):  
Yuzhe Chen ◽  
Bonan Qin ◽  
Sijing Guo ◽  
Liangyao Yu ◽  
Lei Zuo
Keyword(s):  
Energy Harvesting ◽  
Vehicle Dynamics ◽  
Model Simulation ◽  
Lane Change ◽  
The Road ◽  
Car Model ◽  
Sinusoidal Input ◽  
Double Lane Change ◽  
Lane Change Test ◽  
Better Than

Abstract This paper introduces a new form of energy-harvesting suspension that is integrated in a hydraulically interconnected suspension (HIS) system. The combined energy-harvesting and hydraulic interconnection features provide improved energy efficiency and vehicle dynamics performance. A half car model and a full car model are developed to validate the effectiveness of this design. Different dynamic input scenarios are used for model simulation, which includes single-wheel sinusoidal input, two-wheel sinusoidal input and double lane change test. The system performs better than a conventional suspension system in rolling dynamics in the cases of the single-wheel road input and double lane change test. The heaving dynamics is dependent on the frequency of the road input. The energy harvesting can generate up to 421 w at 4 Hz and 40 mm (peak to peak) road input.

Verification of 14DOF Full Vehicle Model Based on Steering Wheel Input

2012 ◽  
Vol 165 ◽  
pp. 109-113 ◽  
Author(s):  
Z.A. Kadir ◽  
K. Hudha ◽  
F. Ahmad ◽  
Mohamad Faizal Abdullah ◽  
A.R. Norwazan ◽  
...  
Keyword(s):  
Vehicle Dynamics ◽  
Model Verification ◽  
Steering Wheel ◽  
Lane Change ◽  
Vehicle Model ◽  
Acceptable Error ◽  
Full Vehicle ◽  
Model Based ◽  
Double Lane Change ◽  
Lane Change Test

This paper presents a 14DOF full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior. The full vehicle model is then verified with well-known vehicle dynamics software namely CarSimEd based on the driver input from the steering wheel. Three types of vehicle dynamics test are performed for the purpose of model verification namely step steer test, double lane change test and slalom test. The results of model verification show that the behaviors of the model closely follow the behaviors obtained from CarSimEd software with acceptable error.

A Modified Dugoff Tire Model for Combined-slip Forces

2010 ◽  
Vol 38 (3) ◽  
pp. 228-244 ◽  
Author(s):  
Nenggen Ding ◽  
Saied Taheri
Keyword(s):  
Vehicle Dynamics ◽  
Tire Model ◽  
Magic Formula ◽  
Model Based ◽  
Proposed Model ◽  
Road Friction ◽  
On Line ◽  
Double Lane Change ◽  
Tire Forces ◽  
Tire Models

Abstract Easy-to-use tire models for vehicle dynamics have been persistently studied for such applications as control design and model-based on-line estimation. This paper proposes a modified combined-slip tire model based on Dugoff tire. The proposed model takes emphasis on less time consumption for calculation and uses a minimum set of parameters to express tire forces. Modification of Dugoff tire model is made on two aspects: one is taking different tire/road friction coefficients for different magnitudes of slip and the other is employing the concept of friction ellipse. The proposed model is evaluated by comparison with the LuGre tire model. Although there are some discrepancies between the two models, the proposed combined-slip model is generally acceptable due to its simplicity and easiness to use. Extracting parameters from the coefficients of a Magic Formula tire model based on measured tire data, the proposed model is further evaluated by conducting a double lane change maneuver, and simulation results show that the trajectory using the proposed tire model is closer to that using the Magic Formula tire model than Dugoff tire model.

A Comparison of Trajectory Planning and Control Frameworks for Cooperative Autonomous Driving

2021 ◽  
Vol 143 (7) ◽  
Author(s):  
Icaro Bezerra Viana ◽  
Husain Kanchwala ◽  
Kenan Ahiska ◽  
Nabil Aouf
Keyword(s):  
Trajectory Planning ◽  
Cooperative Behavior ◽  
Autonomous Driving ◽  
General Idea ◽  
Mixed Integer ◽  
Quadratic Program ◽  
Change Scenario ◽  
Planning Problem ◽  
Lane Change ◽  
Double Lane Change

Abstract This work considers the cooperative trajectory-planning problem along a double lane change scenario for autonomous driving. In this paper, we develop two frameworks to solve this problem based on distributed model predictive control (MPC). The first approach solves a single nonlinear MPC problem. The general idea is to introduce a collision cost function in the optimization problem at the planning task to achieve a smooth and bounded collision function, and thus to prevent the need to implement tight hard constraints. The second method uses a hierarchical scheme with two main units: a trajectory-planning layer based on mixed-integer quadratic program (MIQP) computes an on-line collision-free trajectory using simplified motion dynamics, and a tracking controller unit to follow the trajectory from the higher level using the nonlinear vehicle model. Connected and automated vehicles (CAVs) sharing their planned trajectories lay the foundation of the cooperative behavior. In the tests and evaluation of the proposed methodologies, matlab-carsim cosimulation is utilized. carsim provides the high-fidelity model for the multibody vehicle dynamics. matlab-carsim conjoint simulation experiments compare both approaches for a cooperative double lane change maneuver of two vehicles moving along a one-way three-lane road with obstacles.

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.

Numerical Procedure for Non-Hertzian Wheel-Rail Contact Model Integrated in Quasi-Steady Railway Vehicle Motion Solver

2020 ◽  
Author(s):  
Takayuki Tanaka ◽  
Hiroyuki Sugiyama
Keyword(s):  
Vehicle Dynamics ◽  
Numerical Procedure ◽  
Contact Model ◽  
Hertzian Contact ◽  
Railway Vehicle ◽  
Long Distance ◽  
Elliptical Contact ◽  
Vehicle Motion ◽  
Contact Shape ◽  
Dynamics Simulations

Abstract Although the Hertzian contact theory is widely utilized in railway vehicle simulations with new wheel and rail profiles, the Hertzian contact assumptions would lead to inaccurate contact prediction for severely worn wheel and rail profiles due to their geometric conformity, causing non-elliptical contact shapes as well as pressure distribution. For this reason, various non-Hertzian contact models have been studied for use in vehicle dynamics simulations. Among others, a method proposed by Piotrowski and Kik has gained acceptance in predicting non-elliptical wheel-rail contact for vehicle dynamics simulations. Despite the elegant formulation and its accuracy, detailed online geometric calculation for non-elliptical contact shape is required for all the contact patches at every iteration, along with iterative evaluation of the force-deflection relationship. It leads to computation burdens for use in long-distance vehicle simulations. Therefore, in this study, an off-line based numerical procedure for non-Hertzian contact model is developed and integrated in the quasi-steady railway vehicle motion solver.

Driving simulator parameterization using double-lane change steering metrics as recorded on five modern cars

2012 ◽  
Vol 26 ◽  
pp. 96-112 ◽  
Author(s):  
Diomidis Katzourakis ◽  
Joost C.F. de Winter ◽  
Stefan de Groot ◽  
Riender Happee
Keyword(s):  
Driving Simulator ◽  
Lane Change ◽  
Double Lane Change
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