Dynamic Behaviour of a Road Vehicle with Rear Wheel Adaptive Braking Control

1976 ◽  
Vol 190 (1) ◽  
pp. 233-244
Author(s):  
S. W. E. Earles ◽  
B. R. Aurora
Keyword(s):  
Mathematical Model ◽  
Rear Wheel ◽  
Linear Functions ◽  
Analogue Computer ◽  
Wheel Slip ◽  
The Road ◽  
Hybrid Computer ◽  
Braking Control ◽  
Pressure Modulation ◽  
Predicted Values

SYNOPSIS Initially the vehicle response during braking is investigated with the aid of a mathematical model having a realistic road input. Using an integrated hybrid computer, the road-tyre characteristics are simulated by generating non-linear functions on the digital computer, while the mathematical model is described on the analogue computer with parallel logic facility. An adaptive braking control system is proposed which measures and processes the rear-wheel motion. Activation of the system occurs when the wheel deceleration and a quasi wheel slip reach given reference values. The adaptive system as developed and optimised on the hybrid computer is implemented on the rear wheels of the test vehicle. The predicted values of wheel speed, brake-pressure modulation, stopping distance and vehicle yaw are shown to compare favourably with the test results.

Anti-Lock Wheel Slip Control With an Adaptive Searching Algorithm for the Optimal Slip

2015 ◽  
Author(s):  
Ning Pan ◽  
Liangyao Yu ◽  
Lei Zhang ◽  
Zhizhong Wang ◽  
Jian Song
Keyword(s):  
Lyapunov Theory ◽  
Modulation Amplitude ◽  
Wheel Slip ◽  
Slip Control ◽  
The Road ◽  
Road Friction ◽  
Speed Fluctuation ◽  
On The Road ◽  
Pressure Modulation ◽  
Abs Algorithm

An adaptive searching algorithm for the optimal slip during ABS wheel slip control is proposed. By taking advantage of the fluctuation of wheel slip control, the direction towards the optimal slip can be found, and the target slip calculated by the algorithm asymptotically converged to the optimal slip, which is proved using the Lyapunov theory. A gain-scheduling wheel slip controller is developed to control the wheel slip to the target slip. Simulations on the uniform road and on the road with changed friction are carried out to verify the effectiveness of the proposed algorithm. Simulation results show that the ABS algorithm using the proposed searching algorithm can make full use of the road friction and adapts to road friction changes. Comparing with the conventional rule-based ABS, the pressure modulation amplitude and wheel speed fluctuation is significantly reduced, improving control performance of ABS.

Simulated and Experimental Comparisons of Slip and Torque Control Strategies for Regenerative Braking in Instances of Parametric Uncertainties

2015 ◽  
Vol 27 (3) ◽  
pp. 235-243 ◽  
Author(s):  
Maxime Boisvert ◽  
◽  
Philippe Micheau ◽  
Didier Mammosser
Keyword(s):  
Control Strategies ◽  
Experimental Tests ◽  
Rear Wheel ◽  
Torque Control ◽  
Regenerative Braking ◽  
Parametric Uncertainties ◽  
Vehicle Speed ◽  
Wheel Slip ◽  
Braking Control ◽  
Efficiency Map

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/02.jpg"" width=""340"" />Slip efficiency map & control law</div> A three-wheel hybrid recreational vehicle was studied for the purpose of regenerative braking control. In order to optimize the amount of energy recovered from electrical braking, most of the existing literature presents optimal methods which consist in defining the optimal braking torque as a function of vehicle speed. The originality of the present study is to propose a new strategy based on the control of rear wheel slip. A simulator based on MATLAB/Simulink and validated with experimental measurements compared the two strategies and their sensitivities to variations in mass, slope and road conditions. Numerical simulations and experimental tests show that regenerative braking based on a slip controller was less affected by the majority of the parametric changes. Moreover, since the slip was limited, the longitudinal stability of the vehicle was thereby improved. It thus becomes possible to ensure optimal energy recovery and vehicle stability even in instances of parametric uncertainties.

An Automatic Collision Avoidance System Based on LiDAR

2014 ◽  
Vol 644-650 ◽  
pp. 952-956 ◽  
Author(s):  
Hao Yang ◽  
An Qing You ◽  
Wen Wu Pan ◽  
Hai Long Tang
Keyword(s):  
Mathematical Model ◽  
Collision Avoidance ◽  
Point Cloud ◽  
Gps Data ◽  
3D Point Cloud ◽  
The Road ◽  
3D Engine ◽  
Collision Avoidance System

For vehicle-borne LiDAR, a mathematical model is built for the computation and reconstruction of laser point cloud with the scanning data, GPS data and IMU data. 3D point cloud of the road and the scenery on the both sides of the road is obtained. Then according to the trajectory of the vehicle, 3D roaming for the scenery on the both sides of the road is realized using OpenGL 3D engine technology. This technology provides a probably feasible way for anti-collision of vehicles and aircrafts when driven at night, in the heavy fog or flying between the mountains.

Assessment of roadability and stability of a vehicle movement on the bend

2020 ◽  
Keyword(s):  
Mathematical Model ◽  
Road Surface ◽  
Inertia Force ◽  
Speed Limit ◽  
The Road ◽  
Inertial Moment ◽  
The Mathematical Model ◽  
Computer Imitation ◽  
Vehicle Movement

The paper presents the mathematical model and the technique of computer imitation of a vehicle movement on bend. Research of roadability and stability of the truck and the schedules illustrating change of characteristics of the steered movement have been obtained. The critical modes of the movement causing separation of wheels from road surface and side slippage have been defined. Speed limit of the steered movement on trajectory of the set curvature have been determined. Keywords vehicle, wheel, cross and longitudinal reactions of the road, inertia force, inertial moment, trajectory of a vehicle movement, angles of withdrawal of wheels, spring weight angle of heel, side slippage, vehicle drift

Modeling and Controlling of Anti-Slip Regulation Based on Limited-Slip Differential

2011 ◽  
Vol 86 ◽  
pp. 762-766
Author(s):  
Jian Jun Hu ◽  
Peng Ge ◽  
Zheng Bin He ◽  
Da Tong Qin
Keyword(s):  
Dynamic Models ◽  
Fuzzy Controller ◽  
Rear Wheel ◽  
Pi Controller ◽  
Hydraulic Control ◽  
Electronic Throttle ◽  
Adhesion Coefficient ◽  
The Road ◽  
Wheel Drive ◽  
Hydraulic Control System

The dynamic models of whole rear-wheel drive vehicle, limited-slip differential, hydraulic control system and electronic throttle were established. Simulations of acceleration course on split-µ road, checkerboard-µ road, low-µ road and step-µ road were carried out combining electronic throttle PI controller and limited-slip differential fuzzy controller. The results show that the Anti-slip Regulation quickly works according to the road adhesion coefficient, effectively inhibits the slip of driving wheels on low adhesion coefficient road, the acceleration performance driving on bad roads was improved obviously, and show a good adaptability.

Prediction of Design Hourly Volume on Rural Roads

2020 ◽  
pp. 036119812096556
Author(s):  
Miloš Petković ◽  
Vladan Tubić ◽  
Nemanja Stepanović
Keyword(s):  
Coefficient Of Determination ◽  
Rural Roads ◽  
The Road ◽  
Annual Average Daily Traffic ◽  
Proposed Model ◽  
Traffic Volumes ◽  
Implementation Costs ◽  
On The Road ◽  
Predicted Values ◽  
Design Hourly Volume

Design hourly volume (DHV) represents one of the most significant parameters in the procedures of developing and evaluating road designs. DHV values can be accurately and precisely calculated only on the road sections with the implemented automatic traffic counters (ATCs) which constantly monitor the traffic volume. Unfortunately, many road sections do not contain ATCs primarily because of the implementation costs. Consequently, for many years, the DHV values have been defined on the basis of occasional counting and the factors related to traffic flow variability over time. However, it has been determined that this approach has significant limitations and that the predicted values considerably deviate from the actual values. Therefore, the main objective of this paper is to develop a model which will enable DHV prediction on rural roads in cases of insufficient data. The suggested model is based on the correlation between DHVs and the parameters defining the characteristics of traffic flows, that is, the relationship between the traffic volumes on design working days and non-working days, and annual average daily traffic. The results of the conducted research indicate that the application of the proposed model enables the prediction of DHV values with a significant level of data accuracy and reliability. The coefficient of determination (R2) shows that more than 98% of the variance of the calculated DHVs was explained by the observed DHV values, while the mean error ranged from 4.86% to 7.84% depending on the number of hours for which DHV was predicted.

scholarly journals FULL CAR ACTIVE DAMPING SYSTEM FOR VIBRATION CONTROL

2020 ◽  
Vol 6 (4) ◽  
pp. 1-17
Author(s):  
G. Yakubu ◽  
G. Sani ◽  
S. B. Abdulkadir ◽  
A. A.Jimoh ◽  
M. Francis
Keyword(s):  
Mathematical Model ◽  
Linear Quadratic Regulator ◽  
Active Damping ◽  
Settling Time ◽  
Linear Quadratic ◽  
Body Acceleration ◽  
The Road ◽  
Road Profile ◽  
Lqr Controller ◽  
Mass Displacement

Full car passive and active damping system mathematical model was developed. Computer simulation using MATLAB was performed and analyzed. Two different road profile were used to check the performance of the passive and active damping using Linear Quadratic Regulator controller (LQR)Road profile 1 has three bumps with amplitude of 0.05m, 0.025 m and 0.05 m. Road profile 2 has a bump with amplitude of 0.05 m and a hole of -0.025 m. For all the road profiles, there were 100% amplitude reduction in Wheel displacement, Wheel deflection, Suspension travel and body displacement, and 97.5% amplitude reduction in body acceleration for active damping with LQR controller as compared to the road profile and 54.0% amplitude reduction in body acceleration as compared to the passive damping system. For the two road profiles, the settling time for all the observed parameters was less than two (2) seconds. The present work gave faster settling time for mass displacement, body acceleration and wheel displacement.

scholarly journals Anti-Lock Breaking System Pada Krl Commuter Line Jabodetabek Sebagai Penunjang Keselamatan Mengunakan Fuzzy Inference System

2018 ◽  
Vol 1 (2) ◽  
Author(s):  
Sam Ali Nurdin ◽  
Ketut Bayu Yogha Bntoro
Keyword(s):  
Public Transportation ◽  
Fuzzy Inference ◽  
Online Media ◽  
Wheel Slip ◽  
Inference System ◽  
The Public ◽  
The Road ◽  
Braking System ◽  
Logical Method ◽  
Electric Train

The public transportation model which is currently widely used by people who live in Jakarta, Bogor, Depok, Tangerang and Bekasi (JABODETABEK) is the Commuter-Line Electric Train (KRL). According to online media sources(http://Kompas.com 2 December 2015), currently, the JABODETABEK Commuter-Line KRL can carry 900,000 passengers every day. Anti Lock Braking System (ABS) is a braking system that maintains the position of the wheels and the road to prevent tire/wheel slip. Anti Lock Braking System was first used or applied to aircraft. Vehicles that are not equipped with the Anti-lock Braking System must be updated. The driver makes optimal braking to prevent slip between the wheels and the road or rail so that the vehicle stops perfectly. In this paper, we will use fuzzy inference logic to support an Anti-lock Braking System (ABS). Fuzzy inference is a logical method because when determining variables in the fuzzy method, the variable must have an International Standard (SI).

scholarly journals Integration of Transport-relevant Data within Image Record of the Surveillance System

2016 ◽  
Vol 28 (5) ◽  
pp. 517-527
Author(s):  
Adam Stančić ◽  
Ivan Grgurević ◽  
Zvonko Kavran
Keyword(s):  
Mathematical Model ◽  
Data Processing ◽  
Discrete Cosine Transform ◽  
Programming Language ◽  
Surveillance System ◽  
Basic Assumption ◽  
Review Paper ◽  
Relevant Information ◽  
The Road ◽  
On The Road

Integration of the collected information on the road within the image recorded by the surveillance system forms a unified source of transport-relevant data about the supervised situation. The basic assumption is that the procedure of integration changes the image to the extent that is invisible to the human eye, and the integrated data keep identical content. This assumption has been proven by studying the statistical properties of the image and integrated data using mathematical model modelled in the programming language Python using the combinations of the functions of additional libraries (OpenCV, NumPy, SciPy and Matplotlib). The model has been used to compare the input methods of meta-data and methods of steganographic integration by correcting the coefficients of Discrete Cosine Transform JPEG compressed image. For the procedures of steganographic data processing the steganographic algorithm F5 was used. The review paper analyses the advantages and drawbacks of the integration methods and present the examples of situations in traffic in which the formed unified sources of transport-relevant information could be used.

scholarly journals RTA Mathematic Simulation Principles at the Autotechnical Expertise

2021 ◽  
Vol 334 ◽  
pp. 02026
Author(s):  
Badrudin Gasanov ◽  
Artem Efimov ◽  
Jurij Grebennikov
Keyword(s):  
Mathematical Model ◽  
Road Transport ◽  
Road Accident ◽  
Momentum Vector ◽  
The Road ◽  
Solid Friction ◽  
Strain Stress ◽  
Determination Methods ◽  
Determine Step ◽  
Energy Conservation Law

The features of carrying out an autotechnical expertise (ATE) are considered in case the vehicles (V) participating in the road transport accident (RTA) don’t leave skid imprints. The examples of momentum and energy conservation law application are given at developing the road accident mathematical model. Special attention is paid to the determination methods of vehicle (V) velocity, travel directions in various RTA diagrams and archeology of deformation. For this purpose it is offered to draw a momentum vector diagram. It is reasonable that for the calculation of V deformation at RTA it is necessary to determine step by step the strain-stress state in a contact area on the basis of the theories of elasticity, plasticity, solid friction and finite-element methods. The technique of constructing an RTA mathematical model is developed. It is recommended to use at ATE of RTAs at the runs-over into the fixed obstacle (a stationary V) and collisions.

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