Adapting an Articulated Vehicle to the Drivers

1999 ◽  
Author(s):  
Xiaobo Yang ◽  
Subhash Rakheja ◽  
Ion Stiharu
Keyword(s):  
Open Loop ◽  
Roll Angle ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Vehicle Model ◽  
Response Characteristics ◽  
Performance Potentials ◽  
Compensatory Gain ◽  
Steering Effort ◽  
Control Limits

Abstract A yaw plane model with limited roll DOF of a five-axle tractor semitrailer is developed to study the open-loop directional dynamics of the vehicle. A comprehensive driver model incorporating path preview, low and high frequency compensatory gains and time delays, and prediction of tractor lateral acceleration, articulation rate of the combination and the trailer sprung mass roll angle is developed and integrated with the vehicle model. The coupled driver-vehicle model is analyzed to explore the performance potentials of the vehicle design adapted for control limits of the driver. The data reported in the published studies are reviewed to identify range of control limits of the drivers in terms of preview distance, reaction time and compensatory gain. A comprehensive performance index including the path tracking, vehicle dynamic response characteristics and the driver’s steering effort is formulated and minimized using Gauss-Newton method to derive the desirable ranges of the vehicle parameters, including geometric, inertial, suspension, tire and the fifth wheel. The results of the study revealed that a driver with higher skill can easily adapt the vehicle with large size, soft suspension and relative over-steer nature. The adaptability of the vehicle is further examined for different drivers with varying skills. It is concluded that the adaptability and thus the directional performance of the vehicle can be enhanced through variations in the weights and dimensions, and suspension, tire and the fifth wheel properties. The results further show that the driver-adapted vehicle yields up to 33% reduction in the steering effort demand posed on the driver, while the roll angle and yaw rate response decrease by up to 40%.

Adapting an Articulated Vehicle to its Drivers

2000 ◽  
Vol 123 (1) ◽  
pp. 132-140 ◽  
Author(s):  
Xiaobo Yang ◽  
Subhash Rakheja ◽  
Ion Stiharu
Keyword(s):  
Coupled Model ◽  
Open Loop ◽  
Driver Model ◽  
Response Characteristics ◽  
Large Size ◽  
Driving Skill ◽  
Articulated Vehicle ◽  
Compensatory Gain ◽  
Vehicle Path ◽  
Steering Effort

A yaw plane model with limited roll-DOF of a five-axle tractor semitrailer is developed to study the open-loop directional dynamics of the vehicle. A driver model incorporating path preview, low and high frequency compensatory gains and time delays, and prediction of the vehicle state, is developed and integrated with the vehicle model. The coupled model is analyzed to investigate the vehicle design, which could be best adapted in view of the control limits of different driver, which are identified in terms of preview distance, reaction time and compensatory gain. A performance index based upon the vehicle path tracking, directional response characteristics and the driver’s steering effort is formulated and minimized using Gauss-Newton method to derive the desirable ranges of vehicle parameters, that could be adapted for drivers with varying skills. It is concluded that the adaptability and thus the directional performance of the vehicle can be enhanced through variations in the weights and dimensions, and compliant properties of the suspension, tire and the fifth wheel. The results of the study suggest that a driver with superior driving skill can easily adapt a vehicle with relatively large size, soft suspension and higher degree of oversteer. The results further show that the driver-adapted vehicle yields up to 33 percent reduction in the steering effort demand posed on the driver, while the roll angle and yaw rate response decrease by up to 40 percent.

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.

Directional Response of a B-Train Vehicle Combination Carrying Liquid Cargo

1993 ◽  
Vol 115 (1) ◽  
pp. 133-139 ◽  
Author(s):  
R. Ranganathan ◽  
S. Rakheja ◽  
S. Sankar
Keyword(s):  
Free Surface ◽  
Three Dimensional ◽  
Lateral Acceleration ◽  
Flow Conditions ◽  
Vehicle Model ◽  
Liquid Motion ◽  
Directional Response ◽  
Response Characteristics ◽  
Weight Density ◽  
Liquid Movement

Directional dynamics of a B-train tank vehicle is investigated by integrating the three-dimensional vehicle model to the dynamics associated with the movement of free surface of liquid within the partially filled tanks. The motion of the free surface of liquid due to instantaneous tank roll and lateral acceleration is computed assuming steady state fluid flow conditions. The influence of liquid motion on the dynamic response of the rearmost trailer is investigated for both constant and transient steer inputs, assuming constant forward speed. Directional response characteristics of the B-train tank vehicle are compared to those of an equivalent rigid cargo vehicle to demonstrate the destabilizing effects of the liquid movement within the tank vehicle. Directional response characteristics are further discussed for variation in weight density of liquid and thus the fill height, while the axle loads are held constant around maximum permissible values.

Analysis on Usage Comfort of Highway Based on Lateral Acceleration and Lateral Acceleration Change Rate

2013 ◽  
Vol 427-429 ◽  
pp. 320-324 ◽  
Author(s):  
Zheng Yu Wang ◽  
Cheng Bing Li ◽  
Jin Xu
Keyword(s):  
Rigid Body ◽  
Three Dimensional ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Mountainous Area ◽  
Vehicle Model ◽  
Change Rate ◽  
Vehicle Simulation ◽  
Peak Value ◽  
Made In

To control the lateral acceleration of driving vehicle and its rate of growth is always an important part in road geometric design. At present, vehicles are simplified as single rigid body when and are calculated, moreover, the calculation is made in two-dimensional plane, which does not comply with the actuality. In this article, Road-Driver-Vehicle simulation system (RDVS) is applied to get and of driving vehicle on 3 test roads selected from the mountainous area of southwestern China. In RDVS, the dynamic vehicle model is driven on three-dimensional roads under the control of driver model, so it is more close to the real driving. The results show: got from RDVS is bigger than that from single rigid body calculation. As RDVS is more reliable, from single rigid body calculation may cause an insufficient estimation: suppose the driver drives at the designed speed, though the designed speed varies, the peak value of of the three objects range in [2.0m/s2, 2.5m/s2], beyond the limit of comfort but within tolerable scope; as for subject C without application of clothoid, will exceed the limit of 1.0m/s3. So it is suggested using clothoid, considering improving the quality.

scholarly journals Research on Model Predictive Control for Automobile Active Tilt Based on Active Suspension

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 671
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Zhihong Li ◽  
Yunyi Jia
Keyword(s):  
Load Transfer ◽  
Ride Comfort ◽  
Active Suspension ◽  
Path Tracking ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Model Predictive Controller ◽  
Advantages And Disadvantages ◽  
Predictive Controller

To improve the handling stability of automobiles and reduce the odds of rollover, active or semi-active suspension systems are usually used to control the roll of a vehicle. However, these kinds of control systems often take a zero-roll-angle as the control target and have a limited effect on improving the performance of the vehicle when turning. Tilt control, which actively controls the vehicle to tilt inward during a curve, greatly benefits the comprehensive performance of a vehicle when it is cornering. After analyzing the advantages and disadvantages of the tilt control strategies for narrow commuter vehicles by combining the structure and dynamic characteristics of automobiles, a direct tilt control (DTC) strategy was determined to be more suitable for automobiles. A model predictive controller for the DTC strategy was designed based on an active suspension. This allowed the reverse tilt to cause the moment generated by gravity to offset that generated by the centrifugal force, thereby significantly improving the handling stability, ride comfort, vehicle speed, and rollover prevention. The model predictive controller simultaneously tracked the desired tilt angle and yaw rate, achieving path tracking while improving the anti-rollover capability of the vehicle. Simulations of step-steering input and double-lane change maneuvers were performed. The results showed that, compared with traditional zero-roll-angle control, the proposed tilt control greatly reduced the occupant’s perceived lateral acceleration and the lateral load transfer ratio when the vehicle turned and exhibited a good path-tracking performance.

Investigation on three-directional dynamic interaction between a heavy-duty vehicle and a curved bridge

2017 ◽  
Vol 21 (5) ◽  
pp. 721-738 ◽  
Author(s):  
Shaohua Li ◽  
Jianying Ren
Keyword(s):  
Interaction Model ◽  
Element Model ◽  
Driver Model ◽  
Impact Factors ◽  
Lateral Impact ◽  
Heavy Duty ◽  
Vehicle Model ◽  
Curved Bridge ◽  
Bridge Model ◽  
The Impact

Considering the nonlinear property of suspension damping and tire stiffness, a full-vehicle model is built for a heavy-duty truck. A modified preview driver model with nonlinear time delay is inserted into the vehicle model to compute the suitable steering angle of the front wheel and to make the vehicle follow the required route. Next, the finite element model of a five-span continuous curved highway bridge is established, and the bridge’s inherent frequencies and modes are obtained. The curved bridge and the vehicle are coupled by three-directional tire forces, and a three-directional driver–vehicle–bridge interaction model is presented. The presented vehicle model and bridge model are verified by comparing with the published works. The dynamic impact factors of vertical, lateral, and torsional displacements of the bridge are calculated when a vehicle is traversing through the bridge, and the impact factors’ distributions along the bridge are analyzed. The effects of vehicle driving conditions on impact factors are also researched. It is found that the impact factor calculated from the present specification for a straight bridge is smaller than that from the three-directional driver–vehicle–bridge interaction model, and the vertical and torsional impact effects at the third span midpoint are greater than the lateral impact effect.

scholarly journals Model predictive control–based steering control algorithm for steering efficiency of a human driver in all-terrain cranes

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985978
Author(s):  
Ja-Ho Seo ◽  
Kwang-Seok Oh ◽  
Hong-Jun Noh
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Algorithm ◽  
Steering System ◽  
Driver Model ◽  
Control Technique ◽  
Change Scenario ◽  
Steering Control ◽  
Human Driver ◽  
Steering Effort

All-terrain cranes with multi-axles have large inertia and long distances between the axles that lead to a slower dynamic response than normal vehicles. This has a significant effect on the dynamic behavior and steering performance of the crane. Therefore, the purpose of this study is to develop an optimal steering control algorithm with a reduced driver steering effort for an all-terrain crane and to evaluate the performance of the algorithm. For this, a model predictive control technique was applied to an all-terrain crane, and a steering control algorithm for the crane was proposed that could reduce the driver’s steering effort. The steering performances of the existing steering system and the steering system applied with the newly developed algorithm were compared using MATLAB/Simulink and ADAMS with a human driver model for reasonable performance evaluation. The simulation was performed with both a double lane change scenario and a curved-path scenario that are expected to happen in road-steering mode.

Automobile active tilt based on active suspension with H∞ robust control

2020 ◽  
pp. 095440702096620
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Yanan Bai
Keyword(s):  
Robust Control ◽  
Degrees Of Freedom ◽  
Load Transfer ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Active Suspension ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Roll Moment ◽  
Roll Control

Automobile roll control aims to reduce or achieve a zero roll angle. However, the ability of this roll control to improve the handling stability of vehicles when turning is limited. This study proposes a direct tilt control methodology for automobiles based on active suspension. This tilt control leans the vehicle’s body toward the turning direction and therefore allows the roll moment generated by gravity to reduce or even offset the roll moment generated by the centrifugal force. This phenomenon will greatly improve the roll stability of the vehicle, as well as the ride comfort. A six-degrees-of-freedom vehicle dynamics model is established, and the desired tilt angle is determined through dynamic analysis. In addition, an H∞ robust controller that coordinates different performance demands to achieve the control objectives is designed. The occupant’s perceived lateral acceleration and the lateral load transfer ratio are used to evaluate and explain the main advantages of the proposed active tilt control. To account the difference between the proposed and traditional roll controls, a simulation analysis is performed to compare the proposed tilt H∞ robust control, a traditional H∞ robust control for zero roll angle, and a passive suspension system. The analysis of the time and frequency domains shows that the proposed controller greatly improves the handling stability and anti-rollover ability of vehicles during steering and maintains acceptable ride comfort.

scholarly journals Design of an active front steering system for a vehicle using an active disturbance rejection control method

2019 ◽  
Vol 103 (1) ◽  
pp. 003685041988356
Author(s):  
Nan Sang ◽  
Lele Chen
Keyword(s):  
Pid Control ◽  
Disturbance Rejection ◽  
Tracking Error ◽  
Lateral Acceleration ◽  
Active Disturbance Rejection Control ◽  
Vehicle Model ◽  
Active Disturbance Rejection ◽  
Active Front Steering ◽  
Disturbance Rejection Control ◽  
Better Than

A linear vehicle model is commonly employed in the controller design for an active front steering (AFS). However, this simplified model has a considerable influence on the accuracy of the controller. In this article, an AFS controller using an active disturbance rejection control (ADRC) technique is proposed to prevent this problem. The AFS controller was established in MATLAB/Simulink to control the CarSim vehicle model for verification of the simulation. Under the straight-line driving disturbance condition, proportion-integration-differentiation (PID) control and ARDC substantially decreased with respect to the uncontrolled lateral offset and ADRC performed better than PID control. Under the double lane change (DLC) test working condition, the tracking error of the path, yaw rate, roll angle, and lateral acceleration, and error of the driving direction were used to evaluate the vehicle’s controllability and stability. These evaluation indexes were substantially improved by PID control and ADRC; similarly, ADRC was better than PID control. The tracking error of the ADRC in the presence of parameter variance and external disturbance was significantly smaller than that of PID control. The results have verified that the AFS controller based on ADRC can significantly improve vehicle controllability and stability.

Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability

2008 ◽  
Vol 222 (3) ◽  
pp. 293-304 ◽  
Author(s):  
Jeonghoon Song
Keyword(s):  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Motion Controller ◽  
Non Linear ◽  
Linear Observer

This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

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