Advanced Automatic Steering Systems for Multiple Articulated Road Vehicles

2013 ◽  
Author(s):  
Sebastian Wagner ◽  
Gunter Nitzsche ◽  
Robert Huber
Keyword(s):  
Mechanical Stress ◽  
Kinematic Model ◽  
Steering System ◽  
Guidance System ◽  
Electronic Control ◽  
Road Vehicles ◽  
Control Units ◽  
Steer By Wire ◽  
Automatic Steering ◽  
Multi Body

This article describes a novel automatic steering system for a 30.73m long double articulated bus equipped with three independent steer-by-wire axles. Two model-based control design approaches are proposed. The first approach uses a kinetic vehicle model to design a train-like guidance system and a force-canceling that avoids excessive mechanical stress in the joints and the chassis. While the first approach requires high computational efforts, the second approach utilizes a kinematic model to design an extended Ackermann-steering system that performs well on available electronic control units (ECU). Multi-body-system (MBS) simulations show that both approaches offer high tracking performance and low mechanical stress in the chassis of the vehicle. Furthermore, road tests with the prototype AutoTram® Extra Grand confirm the simulation results.

An intelligent multiple-articulated rubber-tired vehicle based on automatic steering and trajectory following method

2021 ◽  
pp. 107754632199918
Author(s):  
Lei Xiao ◽  
Ke Wang ◽  
Sheng Zhou ◽  
Sai Ma
Keyword(s):  
Computational Cost ◽  
Steering System ◽  
Visual Navigation ◽  
Dynamic Simulations ◽  
Automatic Steering ◽  
Trajectory Following ◽  
Design Speed ◽  
Prediction Control ◽  
Multi Body ◽  
Body Dynamic

For manually driven rubber trams to track, virtual tracks can easily cause driver fatigue. Therefore, based on visual navigation, an automatic steering and trajectory following method are proposed. First, the vehicle kinematic and dynamic model of the Delight Tram is proposed. Then, the automatic steering and trajectory following methods are introduced, which are based on model prediction control and Ackermann steering theory, respectively. Finally, the effectiveness of the proposed methods has been evaluated via both multi-body dynamic simulations and road tests under various working conditions. The results show that the vehicle has excellent steering and trajectory following ability whether in a transient phase or a steady-state circumference. Furthermore, the steering system can stabilize the vehicle in the whole range of design speed, with a smaller computational cost.

scholarly journals Optimal Design of the Six-Wheel Steering System with Multiple Steering Modes

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Haixiang Bu ◽  
Aijuan Li ◽  
Xin Huang ◽  
Wei Li ◽  
Jian Wang
Keyword(s):  
Working Conditions ◽  
Small Volume ◽  
Steering System ◽  
System Structure ◽  
Cad Model ◽  
Electronic Control ◽  
Road Vehicles ◽  
Wheeled Vehicle ◽  
Calculation Results ◽  
Passing Ability

Vehicles will face different working conditions during the use, and different working conditions have different requirements for vehicle functions, which results in many subdivided models. An off-road vehicle is a subdivision model produced to adapt to complex road conditions. In order to adapt to complex road conditions, vehicles should have a good passing ability, small size, and good flexibility. The six-wheeled vehicle has both good passing ability and small volume, which is the best choice for off-road vehicles. The design of the steering system becomes the key step to improve the flexibility of the six-wheeled vehicle. This paper mainly designs an independent steering system for a six-wheel electric vehicle with higher flexibility. The system is designed for six-wheel electric vehicles driven by six in-wheel motors. It mainly includes mechanical steering system and electronic control steering system. Both mechanical steering systems and electronic control steering system have multiple steering modes. Firstly, this paper introduces the various steering modes of the mechanical steering system and the electronic control steering system. Secondly, a CAD model is established by using the software Solidworks, and the system structure is introduced in detail combined with the CAD model. Finally, a kinematics model is established and calculated. The calculation results showed that the steering system can significantly improve the flexibility of the vehicle, so that the vehicle can complete the steering stably and quickly on complex road sections.

Effect of Contact Failure of Connector in Electronic Control Units on Radiated Emissions

2012 ◽  
Vol 132 (6) ◽  
pp. 456-457
Author(s):  
Kazuya Uehara ◽  
Yu-Ichi Hayashi ◽  
Takaaki Mizuki ◽  
Hideaki Sone
Keyword(s):  
Electronic Control ◽  
Control Units ◽  
Radiated Emissions ◽  
Contact Failure

A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

2021 ◽  
pp. 095440702110205
Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Coordinated Control ◽  
Steering System ◽  
Front Wheel ◽  
Path Tracking ◽  
Hierarchical Architecture ◽  
Automatic Steering ◽  
The Stability ◽  
Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

Study and Simulation on Truck Front Suspension Using ADAMS

2013 ◽  
Vol 433-435 ◽  
pp. 2235-2238
Author(s):  
Wei Ning Bao
Keyword(s):  
System Dynamics ◽  
Mechanical System ◽  
Steering System ◽  
Front Wheel ◽  
System Model ◽  
Simulation Test ◽  
Front Suspension ◽  
Body Dynamics ◽  
Wheel Alignment ◽  
Multi Body

The mechanical system dynamics software,ADAMS,is used to establish multi-body dynamics system model for a truck front suspension and steering system. Through the simulation test of wheel travel, front wheel alignment parameters changing along with the wheel travel was obtained.

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