A Study of the Dynamic Parameters Influence over the Behavior of the Two-Section Articulated Vehicle during the Lane Change Manoeuvre

Today, use of articulated long vehicles is surging. The advantages of using large articulated vehicles are that fewer drivers are used and fuel consumption decreases significantly. The major problem of these vehicles is inappropriate lateral performance at high speed. The articulated long vehicle discussed in this article consists of tractor and two semi-trailer units that widely used to carry goods. The main purpose of this article is to design an adaptive sliding mode controller that is resistant to changing the load of trailers and measuring the noise of the sensors. Control variables are considered as yaw rate and lateral velocity of tractor and also first and second articulation angles. These four variables are regulated by steering the axles of the articulated vehicle. In this article after developing and verifying the dynamic model, a new adaptive sliding mode controller is designed on the basis of a nonlinear model. This new adaptive sliding mode controller steers the axles of the tractor and trailers through estimation of mass and moment of inertia of the trailers to maintain the stability of the vehicle. An articulated vehicle has been exposed to a lane change maneuver based on the trailer load in three different modes (low, medium and high load) and on a dry and wet road. Simulation results demonstrate the efficiency of this controller to maintain the stability of this articulated vehicle in a low-speed steep steer and high-speed lane change maneuvers. Finally, the robustness of this controller has been shown in the presence of measurement noise of the sensors. In fact, the main innovation of this article is in the designing of an adaptive sliding mode controller, which by changing the load of the trailers, in high-speed and low-speed maneuvers and in dry and wet roads, has the best performance compared to conventional sliding mode and linear controllers.

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Method of controlling innovative articulation for articulated vehicle

MATEC Web of Conferences ◽

10.1051/matecconf/201815704005 ◽

2018 ◽

Vol 157 ◽

pp. 04005 ◽

Cited By ~ 3

Author(s):

Mateusz Szumilas ◽

Sergiusz Łuczak ◽

Maciej Bodnicki ◽

Marcin Stożek ◽

Tomasz Załuski

Keyword(s):

Control Algorithm ◽

Diagnostic System ◽

Lane Change ◽

Sensor Layer ◽

Motion Stability ◽

Labview Software ◽

Articulated Vehicle ◽

Vehicle Motion ◽

Action Taking

Operation of an articulated vehicle is dependent on an appropriate damping action taking place in its rotary articulation. In order to analyse an impact of the control of the articulation on the motion of the vehicle a model of the vehicle with a controllable hydraulic damping system has been developed. A 90 degree turn and lane change manoeuvres were simulated using LabVIEW software. Modification of the damping parameters of the articulation, according to the velocity and articulation angle of the vehicle, proved to have a significant impact on the vehicle motion stability. Moreover, the sensor layer necessary for the control algorithm as well as the diagnostic system is described.

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A novel decision-making unit for automated maneuver of articulated vehicles in real traffic situations

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407019838380 ◽

2019 ◽

Vol 234 (1) ◽

pp. 152-171 ◽

Cited By ~ 3

Author(s):

Saeed Shojaei ◽

Ali Rahmani Hanzaki ◽

Shahram Azadi ◽

Mohammad Amin Saeedi

Keyword(s):

Decision Making ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Time Range ◽

Lane Change ◽

Mode Control ◽

Articulated Vehicle ◽

Double Lane Change ◽

Real Traffic

In this paper, a new decision-making algorithm for double lane change maneuver of an articulated vehicle in real dynamic circumstances is studied. A novel method for determining the decision conditions is used based on the articulated vehicle kinematics and dynamics. Through this method, several points of the articulated vehicle are considered in various situations when conducting double lane change maneuver, and the critical points are determined. A new realistic dynamic method is used based on a 16-degrees of freedom dynamic model of the articulated vehicle. The sliding mode control method is utilized to increase the method efficiency. Therefore, the least safe time to perform the double lane change maneuver is extracted based on the sliding mode control method as tracking control. A new Articulated Vehicle Least safe time formulation is determined for dynamic circumstances. Based on the results of simulated test, the acceptable time range is also established for conducting the lane change maneuver. The lane change maneuver is generalized to the double lane change maneuver. Decision-making algorithm is introduced based on real traffic situations. The dynamic approach and the decision-making algorithm are verified. Results show the validity of the reflected method meaning that the decision-making algorithm is acceptable.

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Development of a novel nonlinear estimator based on state-dependent Riccati equation technique for articulated vehicles

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419318811254 ◽

2018 ◽

Vol 233 (3) ◽

pp. 516-530 ◽

Cited By ~ 1

Author(s):

Hamze Ahmadi Jeyed ◽

Ali Ghaffari

Keyword(s):

Kalman Filter ◽

Riccati Equation ◽

High Speed ◽

The State ◽

Heavy Vehicle ◽

Lane Change ◽

Heavy Vehicles ◽

State Dependent ◽

Articulated Vehicle ◽

Filter Approach

In this article, for the first time, a novel nonlinear estimator based on state-dependent Riccati equation filter technique is developed for state estimation of the articulated heavy vehicles. The state-dependent Riccati equation filter approach has a structure similar to the Kalman filter, and compared to the Kalman filter, which is based on linearization, the state-dependent Riccati equation filter is based on parameterization. Also, the state-dependent Riccati equation approach due to the nonuniqueness of the state-dependent coefficient matrix prevented singularity (uncontrollability or unobservability), and this advantage can be used to improve the efficiency of the system. For this purpose, using the Newton's method, a ten-degrees-of-freedom nonlinear model of the articulated heavy vehicle including the longitudinal, lateral and yaw motion of the tractor, the articulation angle, and rotational motion of each wheel is developed. Then, the developed model of articulated heavy vehicle is verified using nonlinear TruckSim model in high-speed lane change maneuver. The vehicle model validation results indicated that the development model is near to the actual articulated vehicle nonlinear model and can be utilized in the nonlinear estimator design. Then, using the state-dependent Riccati equation filter approach, the state variable estimation algorithm based on parametrization is designed and the articulated vehicle states are estimated online. In order to assess the performance and the efficiency of the developed estimator, the simulations with two standard maneuvers including low-speed 90 ° turn maneuver and high-speed lane change maneuver in the slippery road are performed. The simulation results indicate the remarkable impacts of the developed estimator based on state-dependent Riccati equation filter technique on the state estimation of the articulated heavy vehicles.

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Nonlinear estimator design based on extended Kalman filter approach for state estimation of articulated heavy vehicle

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419318772173 ◽

2018 ◽

Vol 233 (2) ◽

pp. 254-265 ◽

Cited By ~ 7

Author(s):

Hamze Ahmadi Jeyed ◽

Ali Ghaffari

Keyword(s):

Kalman Filter ◽

State Estimation ◽

Extended Kalman Filter ◽

High Velocity ◽

The State ◽

Heavy Vehicle ◽

Lane Change ◽

Vehicle Model ◽

Articulated Vehicle ◽

Simulation Results

In this article, in order to measure the state variables directly in an articulated heavy vehicle, the extended Kalman filter approaches are proposed. For this purpose, using Kane’s method, a nonlinear model is developed for the articulated vehicle, including the motion equations of longitudinal, lateral, and yaw motion of the tractor, and the hitch articulation angle between the tractor and the semi-trailer. Using TruckSim software, the articulated vehicle model is verified through high-velocity lane change maneuver (a single sinusoidal wave with an amplitude of 5° and a frequency of 0.5 Hz) under the dry and slippery road condition. The simulation results showed that the proposed model is close to the real vehicle model and can be used in the estimator development. Then, the state estimation algorithm is designed and implemented using extended Kalman filter for real-time estimation of the states. To evaluate the performance of the extended Kalman filter, simulations with two maneuvers including high-velocity lane change maneuvers in the dry road and slippery road are carried out. The simulation results demonstrate the impressive performance of the extended Kalman filter for state estimation of the articulated vehicle in critical conditions such as the slippery road and the high velocity.

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Modelling Commercial Vehicle Handling and Rolling Stability

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1243/146441905x48707 ◽

2005 ◽

Vol 219 (4) ◽

pp. 357-369 ◽

Cited By ~ 10

Author(s):

K Hussain ◽

W Stein ◽

A J Day

Keyword(s):

Commercial Vehicle ◽

Lateral Acceleration ◽

Leaf Spring ◽

Lane Change ◽

Angle Variation ◽

Articulated Vehicle ◽

Constant Radius ◽

Non Linear ◽

Rollover Stability ◽

Lane Change Test

This paper presents a multi-degrees-of-freedom non-linear multibody dynamic model of a three-axle heavy commercial vehicle tractor unit, comprising a subchassis, front and rear leaf spring suspensions, steering system, and ten wheels/tyres, with a semi-trailer comprising two axles and eight wheels/tyres. The investigation is mainly concerned with the rollover stability of the articulated vehicle. The models incorporate all sources of compliance, stiffness, and damping, all with non-linear characteristics, and are constructed and simulated using automatic dynamic analysis of mechanical systems formulation. A constant radius turn test and a single lane change test (according to the ISO Standard) are simulated. The constant radius turn test shows the understeer behaviour of the vehicle, and the single lane change manoeuvre was conducted to show the transient behaviour of the vehicle. Non-stable roll and yaw behaviour of the vehicle is predicted at test speeds >90 km/h. Rollover stability of the vehicle is also investigated using a constant radius turn test with increasing speed. The articulated laden vehicle model predicted increased understeer behaviour, due to higher load acting on the wheels of the middle and rear axles of the tractor and the influence of the semi-trailer, as shown by the reduced yaw rate and the steering angle variation during the constant radius turn. The rollover test predicted a critical lateral acceleration value where complete rollover occurs. Unstable behaviour of the articulated vehicle is also predicted in the single lane change manoeuvre.

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A new automated motion planning system of heavy accelerating articulated vehicle in a real road traffic scenario

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419319886387 ◽

2019 ◽

Vol 234 (1) ◽

pp. 161-184

Author(s):

Saeed Shojaei ◽

Ali R Hanzaki ◽

Shahram Azadi ◽

Mohammad A Saeedi

Keyword(s):

Motion Planning ◽

Dynamic Model ◽

Trajectory Tracking ◽

Tracking Control ◽

Lateral Acceleration ◽

Planning System ◽

Lane Change ◽

Time Duration ◽

Trajectory Tracking Control ◽

Articulated Vehicle

The main purpose of this study is to develop a novel motion planning for an articulated vehicle (AV) in real traffic situations. This motion planning generates collision-free and feasible trajectories based on kinematic and dynamic analyses of the AV concerning its surrounding vehicles. For this purpose, the collision-free trajectories are simulated in the presence of other vehicles, when the AV is conducting a lane change manoeuvre. A new method is utilised to derive the feasible trajectories by taking into account 3-D surface of the slip angle, roll angle, and lateral acceleration of the AV. This paper presents a new approach to generate the trajectory of an accelerating AV considering the surrounding vehicles in manoeuvre, which are either accelerating or decelerating. The optimal trajectory is then obtained based on the longitudinal acceleration of the AV and the time duration of the lane change manoeuvre, aimed at trajectory tracking control. Therefore, a 3-DOF dynamic model of the AV, including the yaw-rate, lateral velocity of the tractor and articulation angle, is developed. The tyres dynamic is simulated using non-linear Dug-off model. Furthermore, an innovative trajectory tracking control system is proposed concerning a sliding mode control. The developed dynamic model of the AV is verified by the Truck-Sim model. Results show that the collision-free and feasible trajectories can be generated based on the newly presented method of trajectory planning. The outcomes of the trajectory tracking control as the final part of the motion planning system indicate that the heavy articulated vehicle can be guided according to the new automated motion planning.

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