2A2-I02 Lateral Motion Control of a Vehicle with a Large Sideslip Angle(Car Robotics & ITS)

2014 ◽  
Vol 2014 (0) ◽  
pp. _2A2-I02_1-_2A2-I02_2
Author(s):  
Hiroshi NAKANO ◽  
Ken OKAYAMA ◽  
Jun KINUGAWA ◽  
Kazuhiro KOSUGE
Keyword(s):  
Motion Control ◽  
Lateral Motion ◽  
Sideslip Angle

The Design of Optimal Lateral Motion Control of an UAV Using the Linear-Quadratic Optimization Method in the Complex Domain

2020 ◽  
Vol 13 (6) ◽  
pp. 217
Author(s):  
Vadim Kramar ◽  
Vasiliy Alchakov ◽  
Aleksey Kabanov ◽  
Sergey Dudnikov ◽  
Aleksandr Dmitriev
Keyword(s):  
Motion Control ◽  
Optimization Method ◽  
Quadratic Optimization ◽  
Complex Domain ◽  
Lateral Motion ◽  
Linear Quadratic

Coordinated Longitudinal and Lateral Motion Control for Four Wheel Independent Motor-Drive Electric Vehicle

2018 ◽  
Vol 67 (5) ◽  
pp. 3782-3790 ◽  
Author(s):  
Hongliang Zhou ◽  
Fengjiao Jia ◽  
Houhua Jing ◽  
Zhiyuan Liu ◽  
Levent Guvenc
Keyword(s):  
Electric Vehicle ◽  
Motion Control ◽  
Motor Drive ◽  
Lateral Motion

Network Control of Vehicle Lateral Dynamics With Control Allocation and Dynamic Message Priority Assignment

2013 ◽  
Author(s):  
Zhibin Shuai ◽  
Hui Zhang ◽  
Junmin Wang ◽  
Jianqiu Li ◽  
Minggao Ouyang
Keyword(s):  
Motion Control ◽  
Time Delays ◽  
Network Control ◽  
Lateral Motion ◽  
Priority Assignment ◽  
Limited Bandwidth ◽  
Vehicle Networks ◽  
Adverse Influence ◽  
Point To Point ◽  
Vehicle Network

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.

Command-filter-adaptive-based lateral motion control for autonomous vehicle

2022 ◽  
Vol 121 ◽  
pp. 105044
Author(s):  
Junda Zhang ◽  
Jian Wu ◽  
Jianmin Liu ◽  
Qing Zhou ◽  
Jianwei Xia ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Vehicle ◽  
Lateral Motion ◽  
Command Filter

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

2015 ◽  
Author(s):  
Jin-Woo Lee ◽  
Bakhtiar B. Litkouhi
Keyword(s):  
Motion Control ◽  
Steering System ◽  
Lateral Motion ◽  
Automated Driving ◽  
Motion Error ◽  
Driving Mode ◽  
Vehicle Technology ◽  
Path Prediction ◽  
Future Work ◽  
Control Methodology

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.

scholarly journals Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion

Energies ◽  
2017 ◽  
Vol 10 (10) ◽  
pp. 1641 ◽  
Author(s):  
Wanke Cao ◽  
Helin Liu ◽  
Cheng Lin ◽  
Yuhua Chang ◽  
Zhiyin Liu ◽  
...  
Keyword(s):  
Motion Control ◽  
Electric Vehicles ◽  
Lateral Motion ◽  
Network Congestion

scholarly journals Lateral Motion Control of Mobile Robots

1993 ◽  
Vol 26 (1) ◽  
pp. 301-305
Author(s):  
E.A. Puente ◽  
M.A. Salichs ◽  
L. Moreno ◽  
J. Pimentel
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
Lateral Motion

Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration

2015 ◽  
Vol 352 (2) ◽  
pp. 645-668 ◽  
Author(s):  
Rongrong Wang ◽  
Hui Zhang ◽  
Junmin Wang ◽  
Fengjun Yan ◽  
Nan Chen
Keyword(s):  
Motion Control ◽  
Electric Vehicles ◽  
Lateral Motion ◽  
Tire Force
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