Vehicle speed preview control with road curvature information for safety and comfort promotion

2020 ◽  
pp. 095440702097285
Author(s):  
Hongliang Zhou ◽  
Jinwu Gao ◽  
Haifeng Liu
Keyword(s):  
High Speed ◽  
Ride Comfort ◽  
Control Method ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
High Definition ◽  
Human Driver ◽  
Control Framework ◽  
Curvature Information ◽  
Road Following

Vehicle lateral acceleration is a critical state and index for vehicle safety and ride comfort. To limit it in high speed cornering situation, a vehicle speed preview controller is proposed with the information of future road curvature, just as a human driver behavior. The future road curvature can be obtained from high definition map in intelligent vehicle control, and to implement it, model predictive control method (MPC) is implemented taking advantage of its preview nature. In this preview speed control framework, a novel kinematics model with vehicle location, speed and track curvature is established for vehicle states prediction. The control performance index of MPC is constructed with vehicle road following index and lateral acceleration index with the aiming of promoting safety and ride comfort. The controller is evaluated during cornering with different road trajectory, initial speed, preview time and road adhesion coefficient in a hardware-in-the-loop simulation platform. It is testified that vehicle slows down before cornering as human driver does to decrease lateral acceleration and steering angle with the benefit of promoting comfort and safety.

scholarly journals Automobile active tilt control based on active suspension

2018 ◽  
Vol 10 (10) ◽  
pp. 168781401880145 ◽  
Author(s):  
Jialing Yao ◽  
Zhihong Li ◽  
Meng Wang ◽  
Feifan Yao ◽  
Zheng Tang
Keyword(s):  
Tilt Angle ◽  
Load Transfer ◽  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
Active Suspension ◽  
Degree Of Freedom ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Rollover Prevention

The rolling control of a car that focuses on reducing the roll angle passively has limited performance of increasing handling stability, passing speed, ride comfort, and rollover prevention while turning. This project presents a method for controlling an automobile to tilt toward the turning direction using active suspension. A 6-degree-of-freedom vehicle model with a 2-degree-of-freedom steering model and a 4-degree-of-freedom tilting model is established. The active tilt sliding mode controller, which causes zero steady-state tilt angle error, is established after the desired tilt angle is determined by dynamic analysis. Simulation results confirm the effectiveness of the control method. The proposed controller reduces the perceived lateral acceleration and the lateral load transfer rate, thereby effectively improving handling stability, ride comfort, and vehicle speed, meanwhile decreasing the possibility of rollover while turning.

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.

scholarly journals Platooning of Autonomous Public Transport Vehicles: The Influence of Ride Comfort on Travel Delay

2019 ◽  
Vol 11 (19) ◽  
pp. 5237 ◽  
Author(s):  
Teron Nguyen ◽  
Meng Xie ◽  
Xiaodong Liu ◽  
Nimal Arunachalam ◽  
Andreas Rau ◽  
...  
Keyword(s):  
Travel Time ◽  
Public Transport ◽  
Autonomous Vehicles ◽  
High Speed ◽  
Ride Comfort ◽  
Light Rail ◽  
Vehicle Speed ◽  
System Delay ◽  
Urban Context ◽  
Travel Delay

The development of advanced technologies has led to the emergence of autonomous vehicles. Herein, autonomous public transport (APT) systems equipped with prioritization measures are being designed to operate at ever faster speeds compared to conventional buses. Innovative APT systems are configured to accommodate prevailing passenger demand for peak as well as non-peak periods, by electronic coupling and decoupling of platooned units along travel corridors, such as the dynamic autonomous road transit (DART) system being researched in Singapore. However, there is always the trade-off between high vehicle speed versus passenger ride comfort, especially lateral ride comfort. This study analyses a new APT system within the urban context and evaluates its performance using microscopic traffic simulation. The platooning protocol of autonomous vehicles was first developed for simulating the coupling/decoupling process. Platooning performance was then simulated on VISSIM platform for various scenarios to compare the performance of DART platooning under several ride comfort levels: three bus comfort and two railway criteria. The study revealed that it is feasible to operate the DART system following the bus standing comfort criterion (ay = 1.5 m/s2) without any significant impact on system travel time. For the DART system operating to maintain a ride comfort of the high-speed train (HST) and light rail transit (LRT), the delay can constitute up to ≈ 10% and ≈ 5% of travel time, respectively. This investigation is crucial for the system delay management towards precisely designed service frequency and improved passenger ride comfort.

scholarly journals Sliding Mode Control of Laterally Interconnected Air Suspensions

2020 ◽  
Vol 10 (12) ◽  
pp. 4320 ◽  
Author(s):  
Dou Guowei ◽  
Yu Wenhao ◽  
Li Zhongxing ◽  
Amir Khajepour ◽  
Tan Senqi
Keyword(s):  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
Suspension System ◽  
Lateral Acceleration ◽  
Sliding Mode Controller ◽  
The Road ◽  
Air Suspension ◽  
Simulation Based ◽  
Different Levels

This paper presents a control method based the lateral interconnected air suspension system, in order to improve the road handling of vehicles. A seven-DOF (Degree of freedom) full-vehicle model has been developed, which considers the features of the interconnected air suspension system, for example, the modeling of the interconnected pipelines and valves by considering the throttling and hysteresis effects. On the basis of the well-developed model, a sliding mode controller has been designed, with a focus on constraining and minimizing the roll motion of the sprung mass caused by the road excitations or lateral acceleration of the vehicle. Moreover, reasonable road excitations have been generated for the simulation based on the coherence of right and left parts of the road. Afterwards, different simulations have been done by applying both bumpy and random road excitations with different levels of roughness and varying vehicle lateral accelerations. The simulation results indicate that the interconnected air suspension without control can improve the ride comfort, but worsen the road handling performance in many cases. However, by applying the proposed sliding mode controller, the road handling of the sprung mass can be improved by 20% to 85% compared with the interconnected or non-interconnected mode at a little cost of comfort.

Evaluation of the Ride Comfort for High Speed Trains in Korea

2006 ◽  
Vol 321-323 ◽  
pp. 1589-1592 ◽  
Author(s):  
Young Guk Kim ◽  
Seog Won Kim ◽  
Chan Kyoung Park ◽  
Kyoung Ho Moon ◽  
Tae Won Park
Keyword(s):  
Statistical Method ◽  
High Speed ◽  
Ride Comfort ◽  
Lateral Acceleration ◽  
Railway Vehicles ◽  
Longitudinal Acceleration ◽  
High Speed Trains ◽  
Term Evaluation

Evaluation of the ride comfort for railway vehicles can be divided into two classes; the long-term evaluation of ride comfort and the momentary evaluation of ride comfort. In the present paper, the ride comfort of railway vehicles are investigated for high speed trains in Korea. The long-term ride comfort has been analyzed by a statistical method and the momentary ride comfort has been analyzed by using the longitudinal acceleration, the jerk and the stationary lateral acceleration.

Research on Path Tracking Control for Vision Based Intelligent Vehicle

2011 ◽  
Vol 63-64 ◽  
pp. 305-308
Author(s):  
Sheng Min Cui ◽  
Chao Zhang ◽  
Jian Feng Wang ◽  
Kun Zhang
Keyword(s):  
Optimal Control ◽  
State Feedback ◽  
Ride Comfort ◽  
Control Method ◽  
Path Tracking ◽  
Lateral Acceleration ◽  
Intelligent Vehicle ◽  
Lateral Deviation ◽  
Automatic Steering ◽  
Optimal State Feedback

This paper proposes an optimal control method to achieve the path tracking mission for the vision based intelligent vehicle. After the access of road trajectory, path tracking task is achieved by the intelligent vehicle automatic steering devices. The angle deviation and lateral deviation relative to the target path can be controlled in the smaller range by state feedback optimal control. A car model contained road information is established for the achievement of intelligent vehicle path tracking and automatic steering. Some values of the variables needed for the control system are obtained by sensors mounted on the car, and achieve the path tracking by the optimal state feedback controller. The algorithm proposed has been validated by simulations. It can make the lateral deviation within the expected range stability. And also the lateral acceleration meets the ride comfort requirements.

A Prototype Steering Weave Stabilizer for Automobiles

1991 ◽  
Vol 113 (1) ◽  
pp. 138-142 ◽  
Author(s):  
J. C. Whitehead
Keyword(s):  
High Speed ◽  
Steering System ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Phase Lag ◽  
Vehicle Speed ◽  
Control Torque ◽  
Concentrated Mass ◽  
Wheel Rim ◽  
The Difference

A prototype high-speed steering stabilizer for automobiles applies transient steering torques so that the sum of natural steering restoring torque and the control torque is more nearly in phase with steer angle than the natural restoring torque alone. The resulting reduction in the phase lag from steer angle to restoring torque mitigates the steering weave mode. Since steering restoring torque is nearly proportional to vehicle lateral acceleration, weave controller circuitry could subtract instantaneous lateral acceleration from expected steady-state lateral acceleration calculated from steer angle and vehicle speed, and thence command a steering torque actuator depending on the difference signal. The prototype performs the same function using a concentrated mass on the lower steering wheel rim which is passively sensitive to both steer angle and lateral acceleration, thereby applying only transient steering torques in the desired manner at a vehicle speed of 30 m/s. The additional steering system inertia alone affects the weave mode, so a non-stabilizing configuration with the same mass distributed around the steering wheel rim is tested for direct comparison. The experimental data show a dramatic stabilization of weave for the configuration which applies control torque.

scholarly journals Human-Machine Shared Driving Control for Semi-Autonomous Vehicles Using Level of Cooperativeness

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4647
Author(s):  
Anh-Tu Nguyen ◽  
Jagat Jyoti Rath ◽  
Chen Lv ◽  
Thierry-Marie Guerra ◽  
Jimmy Lauber
Keyword(s):  
Autonomous Vehicles ◽  
Control Method ◽  
Shared Control ◽  
Control Technique ◽  
Vehicle Speed ◽  
Time Varying ◽  
Vehicle Model ◽  
Human Machine Interaction ◽  
Human Driver ◽  
Lane Keeping

This paper proposes a new haptic shared control concept between the human driver and the automation for lane keeping in semi-autonomous vehicles. Based on the principle of human-machine interaction during lane keeping, the level of cooperativeness for completion of driving task is introduced. Using the proposed human-machine cooperative status along with the driver workload, the required level of haptic authority is determined according to the driver’s performance characteristics. Then, a time-varying assistance factor is developed to modulate the assistance torque, which is designed from an integrated driver-in-the-loop vehicle model taking into account the yaw-slip dynamics, the steering dynamics, and the human driver dynamics. To deal with the time-varying nature of both the assistance factor and the vehicle speed involved in the driver-in-the-loop vehicle model, a new ℓ∞ linear parameter varying control technique is proposed. The predefined specifications of the driver-vehicle system are guaranteed using Lyapunov stability theory. The proposed haptic shared control method is validated under various driving tests conducted with high-fidelity simulations. Extensive performance evaluations are performed to highlight the effectiveness of the new method in terms of driver-automation conflict management.

scholarly journals Study on Tractor Semi-Trailer Roll Stability Control

2014 ◽  
Vol 8 (1) ◽  
pp. 238-242 ◽  
Author(s):  
Shuwen Zhou ◽  
Siqi Zhang
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Control Method ◽  
Virtual Prototyping ◽  
Stability Control ◽  
Lateral Acceleration ◽  
Acceleration Sensor ◽  
Rollover Prevention ◽  
Time Calculation ◽  
Rollover Index

The rollover accidents in the tractor semi-trailer are often fatal and many factors could cause the tractor semi-trailer rollover. In this paper, a rollover prevention control method was proposed based on real-time calculation of rollover index. The vehicle Center of Gravity (CG) height from the ground is an important parameter in the rollover index and it is estimated through lateral acceleration sensor and suspension deflection sensors. Comparing the rollover index with the preset threshold, the differential braking will be applied to corresponding wheels once the trigger conditions are met. A roll stability control simulation was performed on the dynamic model based on virtual prototyping. The results show that the rollover prevention control proposed in this paper can stabilize the tractor semi-trailer and prevent from rollover on high speed curve driving.

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