Straight ahead running of a non linear car and driver model

2016 ◽  
pp. 243-248 ◽  
Author(s):  
F. Delia Rossa ◽  
O. Sukharev ◽  
G. Mastinu
Author(s):  
Fabio della Rossa ◽  
Massimiliano Gobbi ◽  
Giampiero Mastinu ◽  
Giorgio Previati

The paper deals with the analysis of a manoeuvre occurring frequently before crashes. Due to an external disturbance the straight ahead running of a vehicle is degradated into an oscillating motion. The driver is required to countersteer to recover the straight ahead motion. The bifurcation analysis of a simple model describing a vehicle+driver running straight ahead is performed. The mechanical model of the car has two degrees of freedom and the related equations of motion contain the non linear tyre characteristics. The driver is described by a non linear model defined by three parameters, namely the gain (steering wheel angle per lateral deviation from desired path), the prevision distance, the reaction time delay. Unreferenced bifurcations are discovered for the understeering vehicle. A supercritical Hopf bifurcation may occur as forward speed is increased. Also tangent (fold) bifurcations occur as the speed (or disturbance) are further increased. The vehicle+driver model is validated by means of a number of tests performed in a track. The validation relies on the identification of driver’s parameters. The track is equipped with a plank sliding laterally when the vehicle rear axle passes on it. Such a lateral excitation applies a disturbance to the vehicle which initiates a spin to be counteracted by the driver. An analysis is performed on driver’s parameters identification. Such parameter identification seems a possible way to assess single driver’s ability to perform recovery manoeuvres.


Author(s):  
Jeonghoon Song

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.


2017 ◽  
Vol 92 (1) ◽  
pp. 97-106 ◽  
Author(s):  
Fabio Della Rossa ◽  
Gianpiero Mastinu

1967 ◽  
Vol 28 ◽  
pp. 105-176
Author(s):  
Robert F. Christy

(Ed. note: The custom in these Symposia has been to have a summary-introductory presentation which lasts about 1 to 1.5 hours, during which discussion from the floor is minor and usually directed at technical clarification. The remainder of the session is then devoted to discussion of the whole subject, oriented around the summary-introduction. The preceding session, I-A, at Nice, followed this pattern. Christy suggested that we might experiment in his presentation with a much more informal approach, allowing considerable discussion of the points raised in the summary-introduction during its presentation, with perhaps the entire morning spent in this way, reserving the afternoon session for discussion only. At Varenna, in the Fourth Symposium, several of the summaryintroductory papers presented from the astronomical viewpoint had been so full of concepts unfamiliar to a number of the aerodynamicists-physicists present, that a major part of the following discussion session had been devoted to simply clarifying concepts and then repeating a considerable amount of what had been summarized. So, always looking for alternatives which help to increase the understanding between the different disciplines by introducing clarification of concept as expeditiously as possible, we tried Christy's suggestion. Thus you will find the pattern of the following different from that in session I-A. I am much indebted to Christy for extensive collaboration in editing the resulting combined presentation and discussion. As always, however, I have taken upon myself the responsibility for the final editing, and so all shortcomings are on my head.)


Optimization ◽  
1975 ◽  
Vol 6 (4) ◽  
pp. 549-559
Author(s):  
L. Gerencsér

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