A Model of Driver Steering Control Behavior for Use in Assessing Vehicle Handling Qualities

1993 ◽  
Vol 115 (3) ◽  
pp. 456-464 ◽  
Author(s):  
A. Modjtahedzadeh ◽  
R. A. Hess
Keyword(s):  
Steering System ◽  
Manual Control ◽  
Theoretic Model ◽  
Steering Control ◽  
Vehicle Model ◽  
Vehicle Handling ◽  
Analytical Technique ◽  
Handling Qualities ◽  
Control Behavior ◽  
Lane Keeping

A control theoretic model of driver steering control behavior is presented. The resulting model is shown capable of producing driver/vehicle steering responses which compare favorably with those obtained from driver simulation. The model is simple enough to be used by engineers who may not be manual control specialists. The model contains both preview and compensatory steering dynamics. An analytical technique for vehicle handling qualities assessment is briefly discussed. Driver/vehicle responses from two driving tasks evaluated in a driver simulator are used to evaluate the overall validity of the driver/vehicle model. Finally, the model is exercised in predictive fashion in the computer simulation of a lane keeping task on a curving roadway where the simulated vehicle possessed one of three different steering systems: a conventional two-wheel steering system and a pair of four-wheel steering systems.

Research on Algorithm to Improve Performance of Multi-Wheel Steering Control System

2014 ◽  
Vol 989-994 ◽  
pp. 3177-3180
Author(s):  
Shao Song Wan ◽  
Jian Cao ◽  
Qun Song Zhu ◽  
Cong Yan
Keyword(s):  
Network Performance ◽  
Capacity Utilization ◽  
Steering System ◽  
Steering Wheel ◽  
Response Property ◽  
Steering Control ◽  
Vehicle Handling ◽  
Directional Stability ◽  
Oil Tank ◽  
Input Response

There are many factors that can affect network performance, such as delay, packet loss and capacity utilization. Vehicle handling directional stability has been more and more important, experiments for steering wheel corner step input response, steering oil tank response property, steady state turning and steering angle of all steering wheels were conducted in this paper, the experimental results show that multi-wheel steering system can fulfill its function very well and reach target angle, it provides a new method for researching for the vehicle handling directional stability.

On Steering Control of Commercial Three-Axle Vehicle

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
Qiuzhen Qu ◽  
Jean W. Zu
Keyword(s):  
Reference Model ◽  
Variable Structure ◽  
Limited Range ◽  
Steering System ◽  
Design Parameters ◽  
Steering Control ◽  
Vehicle Model ◽  
Loop Control ◽  
Nominal Model ◽  
Steering Characteristics

The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable.

An Investigation of Automobile Handling as Implemented by a Variable-Steering Automobile

1964 ◽  
Vol 6 (4) ◽  
pp. 333-341 ◽  
Author(s):  
Leonard Segel
Keyword(s):  
Experimental Data ◽  
Subjective Evaluation ◽  
Order Effect ◽  
Steering System ◽  
Lateral Acceleration ◽  
Oscillatory Mode ◽  
Vehicle Handling ◽  
Handling Qualities ◽  
First Order ◽  
Steering Force

Steering tasks consisting of steady turns and fast passing maneuvers were performed by five drivers using an automobile with a variable-steering system. The experiment employed subjective evaluation methods to investigate the influence of (1) steering-force gradient and (2) artificial steering-system torques (with the force gradient held fixed) on driver opinion of vehicle handling in the selected maneuvers. The experimental data indicate that both the steering-force gradient and the damping of the steering system through its influence on the free control oscillatory mode of motion of the over-all vehicle have a first order effect on driver evaluation of the handling qualities of an automobile. A steering-force gradient of 17 ft-lb/g of lateral acceleration was found to be near optimum for the specific conditions investigated.

Two-Stage Lane Keeping Control Algorithm for Lane Sensing Inaccuracy Handling

2013 ◽  
Author(s):  
Jin-Woo Lee ◽  
Bakhtiar B. Litkouhi ◽  
Hsun-Hsuan Huang
Keyword(s):  
Steering System ◽  
Poor Quality ◽  
Smooth Transition ◽  
Steering Control ◽  
Two Stage ◽  
Detection Range ◽  
Active Safety Systems ◽  
Automatic Steering ◽  
The Subject ◽  
Lane Keeping

The Lane Keeping Assist (LKA) system is a safety feature that applies an automatic steering torque to the vehicle steering system to keep the subject vehicle in its lane. Like many other active safety systems, the LKA systems may often experience a performance issue in real road situations. The common LKA performance issues are mainly due to poor quality of the front camera’s curvature data and sudden drops of camera’s detection range. To overcome these issues, this paper proposes a two-stage lane keeping control. In this approach, the LKA has two independent algorithms running with a coordination. In the coordination layer, the secondary lane keeping (LK) control has the authority to override the primary LK control if the primary LK fails to maintain the subject vehicle in the current lane due to the above issues. The key aspect of this system is the accurate timing of the secondary LK’s override over the primary LK. The coordination logic between the primary and the secondary LK control, and smooth transition between the controls are also important performance measures. The determination algorithm of the LK initiation and termination plays a key role in achieving the objectives of LKA fail handling. This paper describes these algorithms as well as the path planning and the steering control algorithms. Several vehicle tests were carried out on curved roads. The results show successful and smooth transition from the primary to the secondary LK layer.

Fuzzy Logic Based Vehicle Stability Enhancement Through Active Rear Steering

2005 ◽  
Author(s):  
A. Ghaffari ◽  
J. Ahmadi ◽  
R. Kazemi
Keyword(s):  
Fuzzy Logic ◽  
Steering System ◽  
Vehicle Stability ◽  
Control Input ◽  
Vehicle Model ◽  
Inference System ◽  
Vehicle Handling ◽  
Stability Enhancement ◽  
Logic Inference ◽  
Yaw Moment

This paper introduces an investigation of a steering intervention system based on active rear steering system (RWS) which uses rear steer angle as control input. The induced yaw moment on the vehicle affects handling states, there by increasing the steering performance. The steering function achieved through RWS can then be used to assist the driver in severe maneuvers that most drivers are not familiar with. Because of the high nonlinearities and uncertainties that exist in vehicle handling behavior a fuzzy logic inference system is developed to explore RWS feasibility and capability. Computer simulations using nonlinear seven degree of freedom vehicle model show the remarkable enhancements of RWS vehicle.

Differential steering-based electric vehicle lateral dynamics control with rollover consideration

2019 ◽  
Vol 234 (3) ◽  
pp. 338-348
Author(s):  
Hui Jing ◽  
Rongrong Wang ◽  
Cong Li ◽  
Jinxiang Wang
Keyword(s):  
Electric Vehicles ◽  
Measurement Problem ◽  
Low Cost ◽  
Steering System ◽  
Front Wheel ◽  
Steering Control ◽  
Lateral Velocity ◽  
Lateral Dynamics ◽  
Vehicle Rollover ◽  
Differential Steering

This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

A comparison of different models of passive seat suspensions

2021 ◽  
pp. 095440702199092
Author(s):  
Raj Desai ◽  
Anirban Guha ◽  
P. Seshu
Keyword(s):  
Human Body ◽  
Separate Analysis ◽  
Vehicle Model ◽  
Human Body Model ◽  
Human Comfort ◽  
Vehicle Handling ◽  
Seat Suspension ◽  
Handling Characteristics ◽  
Suspension Model ◽  
Suspension Models

Long duration exposure to vehicle induced vibration causes various ailments to humans. Amongst the various components of the human-vehicle system, the seat suspension plays a major role in determining the level of vibration transferred to humans. However, optimising the suspension for maximising human comfort leads to poor vehicle handling characteristics. Thus, predicting human comfort through various seat suspension models is a widely researched topic. However, the appropriate seat suspension model to be used has not been identified so far. Neither has any prior work reported integrating models of all the components necessary for this analysis, namely human body, cushion, seat suspension and vehicle chassis, each with the appropriate level of complexity. This work uses a two-dimensional 12 DoF seated human body model with inclined backrest support, a nonlinear cushion model, a seat suspension model and a full vehicle model. Two kinds of road profiles – one with random roughness and one with a bump – have been used. It then compares the performance of five different seat suspension models based on a number of human comfort related parameters (seat to head transmissibility, suspension travel, seat acceleration, cushion contact force and head acceleration in both vertical and fore-aft directions) and vehicle handling parameters (vertical, rolling and pitching acceleration of chassis). The results clearly show the superiority of the configuration which involves a spring parallel to an inclined multi-stage damper. A separate analysis was also done to judge whether the integration of the vehicle model (with its associated complication) was necessary for this analysis. A comparison of the human body’s internal forces, moments, acceleration, and absorbed power with and without the vehicle model clearly indicates the need of using the former.

Driver Steering Control and a New Perspective on Car Handling Qualities

2005 ◽  
Vol 219 (10) ◽  
pp. 1041-1051 ◽  
Author(s):  
R S Sharp
Keyword(s):  
White Noise ◽  
Gaussian White Noise ◽  
Design Parameters ◽  
Steering Wheel ◽  
Steering Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Handling Qualities ◽  
Gaussian White Noise Process ◽  
Low Pass

The article is about steering control of cars by drivers, concentrating on following the lateral profile of the roadway, which is presumed visible ahead of the car. It builds on previously published work, in which it was shown how the driver's preview of the roadway can be combined with the linear dynamics of a simple car to yield a problem of discrete-time optimal-linear-control-theory form. In that work, it was shown how an optimal ‘driver’ of a linear car can convert the path preview sample values, modelled as deriving from a Gaussian white-noise process, into steering wheel displacement commands to cause the car to follow the previewed path with an attractive compromise between precision and ease. Recognizing that real roadway excitation is not so rich in high frequencies as white-noise, a low-pass filter is added to the system. The white-noise sample values are filtered before being seen by the driver. Numerical results are used to show that the optimal preview control is unaltered by the inclusion of the low-pass filter, whereas the feedback control is affected diminishingly as the preview increases. Then, using the established theoretical basis, new results are generated to show time-invariant optimal preview controls for cars and drivers with different layouts and priorities. Tight and loose controls, representing different balances between tracking accuracy and control effort, are calculated and illustrated through simulation. A new performance criterion with handling qualities implications is set up, involving the minimization of the preview distance required. The sensitivities of this distance to variations in the car design parameters are calculated. The influence of additional rear wheel steering is studied from the viewpoint of the preview distance required and the form of the optimal preview gain sequence. Path-following simulations are used to illustrate relatively high-authority and relatively low-authority control strategies, showing manoeuvring well in advance of a turn under appropriate circumstances. The results yield new insights into driver steering control behaviour and vehicle design optimization. The article concludes with a discussion of research in progress aimed at a further improved understanding of how drivers control their vehicles.

Multirate Lane-Keeping System With Kinematic Vehicle Model

2018 ◽  
Vol 67 (10) ◽  
pp. 9211-9222 ◽  
Author(s):  
Chang Mook Kang ◽  
Seung-Hi Lee ◽  
Chung Choo Chung
Keyword(s):  
Vehicle Model ◽  
Lane Keeping

Driver Model Based on Controller with Open and Close Loop

2014 ◽  
Vol 889-890 ◽  
pp. 958-961
Author(s):  
Huan Ming Chen
Keyword(s):  
Closed Loop ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Vehicle Model ◽  
Vehicle Handling ◽  
Loop Control ◽  
Driving Experience ◽  
Loop Feedback ◽  
Closed Loop Feedback ◽  
Target Path

It is very important to simulate driver's manipulation for people - car - road closed loop simulation system. In this paper, the driver model is divided into two parts, linear vehicle model is used to simulate the driver's driving experience, and closed-loop feedback is used to characterize the driver's emergency feedback. The lateral acceleration of vehicle is used as feedback in closed loop control. Simulation results show that the smaller lateral acceleration requires the less closed-loop feedback control. The driver model can accurately track the target path, which can be used to simulate the manipulation of the driver. The driver model can be used for people - car - road closed loop simulation to evaluate vehicle handling stability.

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