scholarly journals Path tracking with minimum time of vehicle handling inverse dynamics based on adaptive gauss pseudospectral method

2019 ◽  
Vol 7 (4) ◽  
pp. 164-182
Author(s):  
Yingjie Liu ◽  
Yongsheng Liu
Keyword(s):  
Inverse Dynamics ◽  
Pseudospectral Method ◽  
Path Tracking ◽  
Minimum Time ◽  
Vehicle Handling ◽  
Gauss Pseudospectral Method

Minimum time overtaking problem of vehicle handling inverse dynamics based on interval mathematics

2018 ◽  
Vol 233 (6) ◽  
pp. 1534-1545 ◽  
Author(s):  
Youqun Zhao ◽  
Wenxin Zhang ◽  
Xinglong Zhang ◽  
Fen Lin
Keyword(s):  
Inverse Dynamics ◽  
Age Groups ◽  
Pseudospectral Method ◽  
Unmanned Vehicles ◽  
Minimum Time ◽  
Vehicle Handling ◽  
Interval Mathematics ◽  
Interval Analysis Method ◽  
Driving Assistance ◽  
Driving Assistance System

To analyze the influence of uncertain factors on minimum time overtaking, interval mathematics is used to describe the uncertainties, and the overtaking safety distance is calculated using interval analysis method. In addition, vehicle handling inverse dynamics is proposed in this paper. In this method, the driver-handling input can be obtained without the modeling of driver. The optimal control problem is first converted into a nonlinear programming problem based on Gauss pseudospectral method. Then sequential quadratic programming is applied to get the solution. The simulation results show that the overtaking behavior will be significantly different, if the drivers’ age groups or vehicles’ braking system parameters are different. Besides, the influence of different drivers’ estimate time is critical. The subjective judgments of the drivers are considered in this paper to realize the user-friendly design. This method may provide a reference for the research of unmanned vehicles and driving assistance system.

scholarly journals Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

2015 ◽  
Vol 2015 ◽  
pp. 1-9
Author(s):  
Wang Wei ◽  
Bei Shaoyi ◽  
Yang Hui ◽  
Wang Yongzhi ◽  
Zhang Lanchun
Keyword(s):  
Optimal Control ◽  
Collision Avoidance ◽  
High Speed ◽  
Inverse Dynamics ◽  
Avoidance Performance ◽  
Control Object ◽  
Minimum Time ◽  
Driving Safety ◽  
Multiple Shooting ◽  
Vehicle Handling

Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering emergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active safety. A new technique of vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance is proposed. Based on optimal control theory, the steering angle input and the traction/brake force imposed by driver are the control variables; the minimum time required to complete the fitting biker line change is the control object. By using the improved direct multiple shooting method, the optimal control problem is converted into a nonlinear programming problem that is then solved by means of the sequential quadratic programming. The simulation results show that the proposed method can solve the vehicle minimum time maneuver problem, and can compare the maneuverability of two different vehicles that complete fitting biker line change with the minimum time and the correctness of the model is verified through real vehicle test.

Minimum Time Lane Changing Problem of Vehicle Handling Inverse Dynamics Considering the Driver’s Intention

2019 ◽  
Vol 20 (1) ◽  
pp. 109-118
Author(s):  
Xinglong Zhang ◽  
Youqun Zhao ◽  
Wenxin Zhang ◽  
Fen Lin ◽  
Haiqing Li
Keyword(s):  
Inverse Dynamics ◽  
Minimum Time ◽  
Lane Changing ◽  
Vehicle Handling ◽  
Driver’S Intention

scholarly journals Modeling and simulation of minimum time-handling inverse dynamics of a vehicle

2018 ◽  
Vol 10 (7) ◽  
pp. 168781401878608 ◽  
Author(s):  
Li-Xia Zhang ◽  
Fu-Quan Pan ◽  
Hui Zhang ◽  
Ting Feng
Keyword(s):  
Degrees Of Freedom ◽  
Load Transfer ◽  
Inverse Dynamics ◽  
Longitudinal Velocity ◽  
Minimum Time ◽  
Multiple Shooting ◽  
Steering Wheel ◽  
Dynamics Model ◽  
Vehicle Handling ◽  
Simulation Results

The performance of a vehicle in minimum time handling is highly important for the safety of the vehicle. In this study, a vehicle motion state equation with 3 degrees of freedom was established on the basis of the lateral, yaw, and longitudinal motions of the vehicle. Equations on the linear tire and motion trajectory were established with consideration of longitudinal load transfer to establish the vehicle-handling dynamics model. Steering-wheel angle, driving force equation set, and yaw angle equation had been introduced to convert the vehicle-handling dynamics model into the vehicle-handling inverse dynamics model. By introducing performance index, control set, and several constraint conditions, an optimal control model of the vehicle minimum time handling was established, which was solved by improved direct multiple-shooting nonlinear programming method. A comparison of the simulation results of ADAMS/Car and MATLAB showed that both of the optimal routes input were in tangent with the road boundary. We can observe through the longitudinal velocity that the MATLAB simulation results are more similar to a straight line than that of the ADAMS/Car simulation results, which meet the psychological expectation of a driver. Thus, the inverse dynamics model on minimum time handling of the vehicle is reasonable and feasible.

scholarly journals Optimal Path-Following Guidance with Generalized Weighting Functions Based on Indirect Gauss Pseudospectral Method

2018 ◽  
Vol 2018 ◽  
pp. 1-17 ◽  
Author(s):  
Qi Chen ◽  
Xugang Wang ◽  
Jing Yang
Keyword(s):  
Degrees Of Freedom ◽  
Optimal Path ◽  
Pseudospectral Method ◽  
Path Following ◽  
Control Cost ◽  
Weighting Functions ◽  
Guidance Law ◽  
Computational Performance ◽  
Gauss Pseudospectral Method ◽  
Virtual Target

An indirect Gauss pseudospectral method based path-following guidance law is presented in this paper. A virtual target moving along the desired path with explicitly specified speed is introduced to formulate the guidance problem. By establishing a virtual target-fixed coordinate system, the path-following guidance is transformed into a terminal guidance with impact angle constraints, which is then solved by using indirect Gauss pseudospectral method. Meanwhile, the acceleration dynamics are modeled as the first-order lag to the command. Using the receding horizon technique a closed-loop guidance law, which considers generalized weighting functions (even discontinuous) of both the states and the control cost, is derived. The accuracy and effectiveness of the proposed guidance law are validated by numerical comparisons. A STM32 Nucleo board based on the ARM Cortex-M7 processor is used to evaluate the real-time computational performance of the proposed indirect Gauss pseudospectral method. Simulations for various types of desired paths are presented to show that the proposed guidance law has better performance when compared with the existing results for pure pursuit, a nonlinear guidance law, and trajectory shaping path-following guidance and provides more degrees of freedom in path-following guidance design applications.

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