Vehicle Longitudinal Ride Comfort Control in Stop-and-Go Traffic

2006 ◽  
Author(s):  
Shiang-Lung Koo ◽  
Han-Shue Tan ◽  
Fanping Bu ◽  
Masayoshi Tomizuka
Keyword(s):  
Optimal Control ◽  
Ride Comfort ◽  
Control Strategies ◽  
Ride Quality ◽  
Vehicle Speed ◽  
Cruise Control ◽  
Stop And Go ◽  
Control Scheme ◽  
Suspension Dynamics ◽  
Two Degree Of Freedom

Ride comfort at low vehicle speed is often overlooked but is very important to vehicle control applications (e.g. the latest stop-and-go function in Adaptive Cruise Control). Most control strategies that address passenger comfort simply utilize the bounds of jerk and acceleration of the vehicles. In general, they have several major limitations when applied to low-speed applications: (I) frequency-domain comfort requirements are not integrated and (II) the vehicle models are simplified too far to capture the tire and suspension dynamics that may impact comfort significantly at low speeds. This paper develops a control scheme for ride quality under stop-and-go situations. The scheme is based on optimal control and it ensures smooth acceleration during vehicle maneuvers. A two-degree-of-freedom control strategy is used to approximate the optimal control law. Experimental results demonstrate the effectiveness of this control scheme.

Heavy-duty truck platooning on hilly terrain highways: Methods for assessment and improvement

2021 ◽  
pp. 095440702110676
Author(s):  
Miles J Droege ◽  
Brady Black ◽  
Shubham Ashta ◽  
John Foster ◽  
Gregory M Shaver ◽  
...  
Keyword(s):  
Control Method ◽  
Control Strategies ◽  
Speed Control ◽  
Vehicle Speed ◽  
Heavy Duty ◽  
Cruise Control ◽  
Hilly Terrain ◽  
Optimal Speed ◽  
Look Ahead ◽  
Shifting Strategy

Platooning heavy-duty trucks is a proven method to reduce fuel consumption on flat ground, but a significant portion of the U.S. highway system covers hilly terrain. The effort described in this paper uses experimentally gathered single truck data from a route with hilly terrain and an experimentally-validated two-truck platoon simulation framework to analyze control methods for effective platooning on hilly terrain. Specifically, this effort investigates two platoon control aspects: (1) the lead truck’s vehicle speed control and (2) the platoon’s transmission shifting algorithm. Three different types of lead truck speed control strategies are analyzed using the validated platoon model. Two are commercially available cruise control strategies – conventional constant set speed cruise control (CCC) and flexible set speed cruise control (FCC). The third lead truck speed control strategy was developed by the authors in this paper. It uses look-ahead grade information for an entire route to create an energy-optimal speed profile for the lead truck which is called long-horizon predictive cruise control (LHPCC). Then, a two-truck platoon transmission shifting strategy that coordinates the shift events – Simultaneous Shifting (SS) – is introduced and compared to a commercially available shifting strategy using the validated platoon model. This shifting strategy demonstrates further improvements in the platoon performance by improving the platoon gap control. A summary of these simulations demonstrates that the performance of the platoon can be improved by three methods: adding speed flexibility to the lead truck speed control method, using look-ahead road grade information to generate energy-optimal speed targets for the lead truck, and coordinating the timing of the transmission shifts for each truck in the platoon.

Investigation on Semi-active Suspension System for Multi-axle Armoured Vehicle using Co-simulation

2017 ◽  
Vol 67 (3) ◽  
pp. 269
Author(s):  
Mukund W. Trikande ◽  
Vinit V. Jagirdar ◽  
Vasudevan Rajamohan ◽  
P.R. Sampat Rao
Keyword(s):  
Fuzzy Logic Controller ◽  
Ride Comfort ◽  
Control Strategies ◽  
Integrated Control ◽  
Active Suspension ◽  
Suspension System ◽  
Ride Quality ◽  
Actual System ◽  
Loop Control ◽  
Ride Control

<p>The objective of the study is to evaluate the performance of various semi-active suspension control strategies for 8x8 multi-axle armoured vehicles in terms of comparative analysis of ride quality and mobility parameters during negotiation of typical military obstacles. Since the cost, complexity and time precludes realisation of actual system, co-simulation technique has been effectively implemented for this investigation. Co-simulation combines advanced virtual prototyping and control technology which offers a novel approach to investigate the dynamics of such complex system. The simulations for the integrated control system along with multi body model of the vehicle are carried out for the control strategies, viz. continuous sky hook control, cascade loop control and cascade loop with ride control and compared with passive suspension system. The vehicle with 8x8 configuration is run on the real world obstacle profiles, viz. step, trench, trapezoidal bump and corrugated road and the effect of control strategies on ride comfort, wheel displacement and ground reaction is presented. It is observed that cascade loop with ride control in semi-active mode offers better vehicle ride comfort while crossing the said obstacles. The improved performance parameters are achieved through stabilisation of heave, pitch and roll motions of the vehicle through outer loop and isolation of vehicle level uneven disturbances through the fuzzy logic controller employed in inner loop.</p>

Practical Strategies for Controlling Railway Wheelsets Independently Rotating Wheels

2003 ◽  
Vol 125 (3) ◽  
pp. 354-360 ◽  
Author(s):  
T. X. Mei ◽  
R. M. Goodall
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Control Structure ◽  
The Body ◽  
Vehicle Speed ◽  
Control Scheme ◽  
Curving Performance ◽  
Rail Deflection ◽  
Optimal Control Scheme ◽  
Active Control Strategy

This paper presents the development of an active control strategy for railway vehicles with independently rotating wheels. The proposed control scheme is intuitively formulated with a simple control structure and adaptive to vehicle speed. It does not require basic guidance measurements (e.g., wheel-rail deflection and angle of attack) that are expensive and impractical to implement. Speed sensors are used to measure the relative rotational speed of the two wheels on a same axle and sensors are also used to measure the relative yaw velocity of the wheelset and the body it is connected. Both curving performance and passenger ride comfort of the actively controlled vehicle are compared with that of a typical passive vehicle and an optimal control scheme.

scholarly journals Vehicle Ride Comfort Analysis Based on Vehicle-Bridge Coupled Vibration

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Yichang Zhang ◽  
Wusheng Li ◽  
Zhe Ji ◽  
Guichun Wang
Keyword(s):  
Rational Design ◽  
Ride Comfort ◽  
Dynamic Balance ◽  
Dynamic Responses ◽  
Ride Quality ◽  
Vehicle Speed ◽  
Coupled Vibration ◽  
Coupling Vibration ◽  
Multiple Vehicles ◽  
Vibration Responses

The study in this paper aims to evaluate the effects of vehicle-bridge coupled vibration on the vehicle ride comfort. The mechanical model of both vehicle and bridge subsystems and the vibration differential equations are established, respectively, based on the principle of dynamic balance and finite element method. The APDL command stream for iterative calculation is compiled on the ANSYS platform. The method to evaluate the vehicle ride comfort is established according to the criteria in ISO2631-1-1997. The vehicle dynamic responses and ride comfort are analyzed considering different pavement levels while multiple vehicles pass through the cable-stayed bridge. The analysis results indicate that the dynamic responses of vehicles decrease with the improvement of pavement roughness, resulting in the vehicle ride comfort to be better; the dynamic responses of vehicles increase with the increment of vehicle speed or the decrement of vehicle gravity, resulting in the vehicle ride comfort to be worse. The present research results can provide an insight into the rational design of bridge structure so as to reduce the vehicle-bridge coupling vibration responses and improve the ride quality of drivers and passengers.

Energy Harvesting, Ride Comfort, and Road Handling of Regenerative Vehicle Suspensions

2011 ◽  
Author(s):  
Lei Zuo ◽  
Pei-Sheng Zhang
Keyword(s):  
Energy Harvesting ◽  
Ride Comfort ◽  
Average Power ◽  
Great Influence ◽  
Vehicle Body ◽  
Ride Quality ◽  
Vehicle Speed ◽  
Road Roughness ◽  
Tire Stiffness ◽  
Suspension Stiffness

This paper presents a comprehensive assessment of the power that is available for harvesting in the vehicle suspension system and the tradeoff among energy harvesting, ride comfort, and road handing with analysis, simulations and experiments. The excitation from road irregularity is modeled as a stationary random process with road roughness suggested in the ISO standard. The concept of system H2 norm is used to obtain mean value of power generation and the root mean square values of vehicle body acceleration (ride quality) and dynamic tire-ground contact force (road handling). For a quarter car model, analytical solution of the mean power is obtained. The influence of road roughness, vehicle speed, suspension stiffness, shock absorber damping, tire stiffness, wheel and chasses masses to the vehicle performances and harvestable power are studied. Experiments are carried out to verify the theoretical analysis. The results suggest that road roughness, tire stiffness, and vehicle driving speed have great influence to the harvesting power potential, where the suspension stiffness, absorber damping, vehicle masses are insensitive. At 60mph on good and average roads 100–400 watts average power is available in the suspensions of a middle-size vehicle.

scholarly journals An examination of alternative schemes for active and semi-active control of vertical car-body vibration to improve ride comfort

2021 ◽  
pp. 095440972110221
Author(s):  
Bin Fu ◽  
Stefano Bruni
Keyword(s):  
Ride Comfort ◽  
Control Strategies ◽  
Three Dimensional ◽  
Ride Quality ◽  
Vehicle Model ◽  
Bending Vibration ◽  
Conventional Vehicle ◽  
Car Body ◽  
Model Based ◽  
Bending Modes

The recent tendency to reduce the weight of car bodies is posing a new challenge to vertical ride quality, since the vibrations related to car-body vertical bending modes affect heavily passengers’ comfort and cannot be fully mitigated by conventional vehicle suspensions. In this work, four mechatronic suspensions, considering active and semi-active technologies in secondary and primary suspensions, are compared to show their relative merits. LQG and H∞ model-based control strategies are established in a consistent way for each suspension scheme to perform a comparative assessment of the four concepts on objective grounds. A two-dimensional 9-DOF vehicle model is firstly built, using a simplified representation of car-body bending modes; this model is also used to design the model-based controllers. The comparison of the four mechatronic suspension schemes based on the 9-DOF model shows that full-active secondary suspension is the most effective solution whilst semi-active primary suspension is also effective in terms of mitigating car-body bending vibration. Then, a three-dimensional flexible multibody system (FMBS) vehicle model integrated with a finite-element car-body is considered to allow a more detailed consideration of the vehicle’s vibrating behaviour. The results of the FMBS model show a good agreement to the results of the 9-DOF model and the relative merits of the four mechatronic suspension schemes as found from the previous analysis are basically confirmed, although the FMBS model is more suited for a quantitative assessment of ride quality.

Potential field–based hierarchical adaptive cruise control for semi-autonomous electric vehicle

2018 ◽  
Vol 233 (10) ◽  
pp. 2479-2491 ◽  
Author(s):  
Yue Ren ◽  
Ling Zheng ◽  
Wei Yang ◽  
Yinong Li
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Potential Field ◽  
Adaptive Cruise Control ◽  
Ride Comfort ◽  
Tracking Error ◽  
Driving Safety ◽  
Vehicle Speed ◽  
Cruise Control ◽  
Collision Risk

Adaptive cruise control, as a driver assistant system for vehicles, can adjust the vehicle speed to keep the appropriate distance from other vehicles, which highly increases the driving safety and driver’s comfort. This paper presents hierarchical adaptive cruise control system that could balance the driver’s expectation, collision risk, and ride comfort. In the adaptive cruise control structure, there are two controllers to achieve the function. The one is the upper controller which is established based on the model predictive control theory and used to calculate the desirable longitudinal acceleration. The collision risk is described by the Gaussian distribution. A quadratic cost function for model predictive control is formulated based on the potential field method through the contradictions between the tracking error, collision risk, and the longitudinal ride comfort. The other one is the lower optimal torque vectoring controller which is constructed based on the vehicle longitudinal dynamics. And it can generate the desired acceleration considering the anti-wheel slip limitations. Several simulations under different road conditions demonstrate that the proposed adaptive cruise control has significant performance on balancing the tracking ability, collision avoidance, ride comfort, and adhesion utilization. It also maintains vehicle stability for the complex road conditions.

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.

Comprehensive Analysis for Influence of Controllable Damper Time Delay on Semi-Active Suspension Control Strategies

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Yechen Qin ◽  
Feng Zhao ◽  
Zhenfeng Wang ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Time Delay ◽  
Dynamic Characteristics ◽  
Ride Comfort ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Strategies ◽  
Active Suspension ◽  
Test System ◽  
Suspension Control ◽  
Simulation Results

This paper presents a comprehensive comparison and analysis for the effect of time delay on the five most representative semi-active suspension control strategies, and refers to four unsolved problems related to semi-active suspension performance and delay mechanism that existed. Dynamic characteristics of a commercially available continuous damping control (CDC) damper were first studied, and a material test system (MTS) load frame was used to depict the velocity-force map for a CDC damper. Both inverse and boundary models were developed to determine dynamic characteristics of the damper. In addition, in order for an improper damper delay of the form t+τ to be corrected, a delay mechanism of controllable damper was discussed in detail. Numerical simulation for five control strategies, i.e., modified skyhook control SC, hybrid control (HC), COC, model reference sliding mode control (MRSMC), and integrated error neuro control (IENC), with three different time delays: 5 ms, 10 ms, and 15 ms was performed. Simulation results displayed that by changing control weights/variables, performance of all five control strategies varied from being ride comfort oriented to being road handling oriented. Furthermore, increase in delay time resulted in deterioration of both ride comfort and road handling. Specifically, ride comfort was affected more than road handling. The answers to all four questions were finally provided according to simulation results.

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