Lateral Motion Control of a Vehicle Using the Rear Steer: Simulation Study

Author(s):  
Jin-Woo Lee ◽  
Bakhtiar B. Litkouhi

The lateral motion control is a key element for automated driving vehicle technology. Typically, the front steering system has been used as the primary actuator for vehicle lateral motion control. Alternatively, this paper presents a new method of the lateral motion control using a rear steer. When combined with the front steer actuator, the rear steer can generate more dynamically responsive turning of the vehicle. In addition, the rear steer can be used as a secondary back up actuator when the front steer actuator fails to operate during automated driving mode. Similar to the prior research that has used the front steer actuator for the lateral control, the control methodology presented in this paper maintains the same hierarchical framework, i.e., sensor fusion, path prediction, path planning, and motion control. Since the rear steer is in play for the vehicle lateral motion control, the equations for the path prediction and vehicle dynamics are re-derived with non-zero front steer and rear steer angles. Combined with the rear steering dynamics, the model predictive control (MPC) technique is applied for motion error minimization. This paper describes the theoretical part of the algorithm, and provides simulation results to show effectiveness of the algorithm. Future work will include vehicle implementation, testing, and evaluation.

Author(s):  
Kawther Osman ◽  
Jawhar Ghommam ◽  
Hasan Mehrjerdi ◽  
Maarouf Saad

This article addresses the coordinated longitudinal and lateral motion control for an intelligent vehicle highway system. The strategy of this work consists of defining the edges of the traveled lane using a vision sensor. According to the detected boundaries, a constrained path-following method is proposed to drive the longitudinal and the lateral vehicle’s motion. Error constraints of the intelligent vehicle highway system position are manipulated by including the function of barrier Lyapunov in designing the guidance algorithm for the intelligent vehicle highway system. To calculate the necessary forces that would steer the vehicle to the desired path, a control design is proposed that integrates the sign of the error for the compensation of the uncertain vehicle’s parameters. The Lyapunov function is later used to minimize the path-following errors and to guarantee a stable system. The efficiency of the developed approach is proved by numerical simulations.


2006 ◽  
Vol 505-507 ◽  
pp. 1159-1164
Author(s):  
Yun Hua Li ◽  
Li Man Yang ◽  
Gui Lin Yang

A large-scale elevating transporter that has multi-wheels to be steered independently is a very complex mechatronic system. Aiming at its real-time coordinated motion control, a multi-mode steering system based on Networked Control System (NCS) is proposed to tackle the problem in the paper. Through motion synthesis, such as kinematics and dynamics modeling and analysis, and using the inherent real-time data sharing of the NCS, a cross-coupled control algorithm for improving contour accuracy is developed. This control methodology is then applied to the coordinated motion control of a practical product with multi-steering modes successfully.


2021 ◽  
Vol 11 (11) ◽  
pp. 5057
Author(s):  
Wan-Yu Yu ◽  
Xiao-Qiang Huang ◽  
Hung-Yi Luo ◽  
Von-Wun Soo ◽  
Yung-Lung Lee

The autonomous vehicle technology has recently been developed rapidly in a wide variety of applications. However, coordinating a team of autonomous vehicles to complete missions in an unknown and changing environment has been a challenging and complicated task. We modify the consensus-based auction algorithm (CBAA) so that it can dynamically reallocate tasks among autonomous vehicles that can flexibly find a path to reach multiple dynamic targets while avoiding unexpected obstacles and staying close as a group as possible simultaneously. We propose the core algorithms and simulate with many scenarios empirically to illustrate how the proposed framework works. Specifically, we show that how autonomous vehicles could reallocate the tasks among each other in finding dynamically changing paths while certain targets may appear and disappear during the movement mission. We also discuss some challenging problems as a future work.


Author(s):  
HyunJoo Park ◽  
HyunJae Park ◽  
Sang-Hwan Kim

In conditional automated driving, drivers may be required starting manual driving from automated driving mode after take-over request (TOR). The objective of the study was to investigate different TOR features for drivers to engage in manual driving effectively in terms of reaction time, preference, and situation awareness (SA). Five TOR features, including four features using countdown, were designed and evaluated, consisted of combinations of different modalities and codes. Results revealed the use of non-verbal sound cue (beep) yielded shorter reaction time while participants preferred verbal sound cue (speech). Drivers' SA was not different for TOR features, but the level of SA was affected by different aspects of SA. The results may provide insights into designing multimodal TOR along with drivers' behavior during take-over tasks.


2018 ◽  
Vol 67 (5) ◽  
pp. 3782-3790 ◽  
Author(s):  
Hongliang Zhou ◽  
Fengjiao Jia ◽  
Houhua Jing ◽  
Zhiyuan Liu ◽  
Levent Guvenc

Author(s):  
Zhibin Shuai ◽  
Hui Zhang ◽  
Junmin Wang ◽  
Jianqiu Li ◽  
Minggao Ouyang

In this paper we study the lateral motion control and torque allocation for four-wheel-independent-drive electric vehicles (4WID-EVs) with combined active front steering (AFS) and direct yaw moment control (DYC) through in-vehicle networks. It is well known that the in-vehicle networks and x-by-wire technologies have considerable advantages over the traditional point-to-point communications, and bring great strengths to 4WID-EVs. However, there are also bandwidth limitations which would lead to message time delays in network communication. We propose a method on effectively utilizing the limited bandwidth resources and attenuating the adverse influence of in-vehicle network-induced time delays, based on the idea of dynamic message priority assignment according to the vehicle states and control signals. Simulation results from a high-fidelity vehicle model in CarSim® show that the proposed vehicle lateral control and torque allocation algorithm can improve the 4WID-EV lateral motion control performance, and the proposed message priority dynamic assignment algorithm can significantly reduce the adverse influence of the in-vehicle network-induced time delays.


2022 ◽  
Vol 121 ◽  
pp. 105044
Author(s):  
Junda Zhang ◽  
Jian Wu ◽  
Jianmin Liu ◽  
Qing Zhou ◽  
Jianwei Xia ◽  
...  

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