scholarly journals Road Profile Estimation Using a 3D Sensor and Intelligent Vehicle

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3676 ◽  
Author(s):  
Tao Ni ◽  
Wenhang Li ◽  
Dingxuan Zhao ◽  
Zhifei Kong
Keyword(s):  
Real Time ◽  
Autonomous Vehicles ◽  
Active Suspension ◽  
Suspension System ◽  
Global Navigation Satellite Systems ◽  
Cloud Data ◽  
Uneven Terrain ◽  
Road Profile ◽  
Data Points ◽  
Profile Estimation

Autonomous vehicles can achieve accurate localization and real-time road information perception using sensors such as global navigation satellite systems (GNSSs), light detection and ranging (LiDAR), and inertial measurement units (IMUs). With road information, vehicles can navigate autonomously to a given position without traffic accidents. However, most of the research on autonomous vehicles has paid little attention to road profile information, which is a significant reference for vehicles driving on uneven terrain. Most vehicles experience violent vibrations when driving on uneven terrain, which reduce the accuracy and stability of data obtained by LiDAR and IMUs. Vehicles with an active suspension system, on the other hand, can maintain stability on uneven roads, which further guarantees sensor accuracy. In this paper, we propose a novel method for road profile estimation using LiDAR and vehicles with an active suspension system. In the former, 3D laser scanners, IMU, and GPS were used to obtain accurate pose information and real-time cloud data points, which were added to an elevation map. In the latter, the elevation map was further processed by a Kalman filter algorithm to fuse multiple cloud data points at the same cell of the map. The model predictive control (MPC) method is proposed to control the active suspension system to maintain vehicle stability, thus further reducing drifts of LiDAR and IMU data. The proposed method was carried out in outdoor environments, and the experiment results demonstrated its accuracy and effectiveness.

scholarly journals Pose Prediction of Autonomous Full Tracked Vehicle Based on 3D Sensor

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5120 ◽  
Author(s):  
Tao Ni ◽  
Wenhang Li ◽  
Hongyan Zhang ◽  
Haojie Yang ◽  
Zhifei Kong
Keyword(s):  
Real Time ◽  
Autonomous Vehicles ◽  
Experimental Result ◽  
Pose Prediction ◽  
Tracked Vehicle ◽  
Position Information ◽  
Cloud Data ◽  
Uneven Terrain ◽  
The Stability ◽  
Safety And Stability

Autonomous vehicles can obtain real-time road information using 3D sensors. With road information, vehicles avoid obstacles through real-time path planning to improve their safety and stability. However, most of the research on driverless vehicles have been carried out on urban even driveways, with little consideration of uneven terrain. For an autonomous full tracked vehicle (FTV), the uneven terrain has a great impact on the stability and safety. In this paper, we proposed a method to predict the pose of the FTV based on accurate road elevation information obtained by 3D sensors. If we could predict the pose of the FTV traveling on uneven terrain, we would not only control the active suspension system but also change the driving trajectory to improve the safety and stability. In the first, 3D laser scanners were used to get real-time cloud data points of the terrain for extracting the elevation information of the terrain. Inertial measurement units (IMUs) and GPS are essential to get accurate attitude angle and position information. Then, the dynamics model of the FTV was established to calculate the vehicle’s pose. Finally, the Kalman filter was used to improve the accuracy of the predicted pose. Compared to the traditional method of driverless vehicles, the proposed approach was more suitable for autonomous FTV. The real-world experimental result demonstrated the accuracy and effectiveness of our approach.

Switching control of semi-active suspension based on road profile estimation

2021 ◽  
pp. 1-21
Author(s):  
Ruochen Wang ◽  
Wei Liu ◽  
Renkai Ding ◽  
Xiangpeng Meng ◽  
Zeyu Sun ◽  
...  
Keyword(s):  
Active Suspension ◽  
Switching Control ◽  
Road Profile ◽  
Profile Estimation

scholarly journals Online Reinforcement Learning-Based Control of an Active Suspension System Using the Actor Critic Approach

2020 ◽  
Vol 10 (22) ◽  
pp. 8060
Author(s):  
Ahmad Fares ◽  
Ahmad Bani Younes
Keyword(s):  
Reinforcement Learning ◽  
Least Squares Method ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Suspension System ◽  
Recursive Least Squares ◽  
Linear Quadratic ◽  
Reward Function ◽  
Road Profile ◽  
The One

In this paper, a controller learns to adaptively control an active suspension system using reinforcement learning without prior knowledge of the environment. The Temporal Difference (TD) advantage actor critic algorithm is used with the appropriate reward function. The actor produces the actions, and the critic criticizes the actions taken based on the new state of the system. During the training process, a simple and uniform road profile is used while maintaining constant system parameters. The controller is tested using two road profiles: the first one is similar to the one used during the training, while the other one is bumpy with an extended range. The performance of the controller is compared with the Linear Quadratic Regulator (LQR) and optimum Proportional-Integral-Derivative (PID), and the adaptiveness is tested by estimating some of the system’s parameters using the Recursive Least Squares method (RLS). The results show that the controller outperforms the LQR in terms of the lower overshoot and the PID in terms of reducing the acceleration.

Hybrid Fuzzy Skyhook Surface Control Using Multi-Objective Microgenetic Algorithm for Semi-Active Vehicle Suspension System Ride Comfort Stability Analysis

2012 ◽  
Vol 134 (4) ◽  
Author(s):  
Yi Chen ◽  
Zhong-Lai Wang ◽  
Jing Qiu ◽  
Hong-Zhong Huang
Keyword(s):  
Stability Analysis ◽  
Real Time ◽  
Ride Comfort ◽  
Polynomial Function ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Active Suspension ◽  
Suspension System ◽  
Multi Objective ◽  
Microgenetic Algorithm

A polynomial function supervising fuzzy sliding mode control (PSFαSMC), which embedded with skyhook surface method, is proposed for the ride comfort of a vehicle semi-active suspension. The multi-objective microgenetic algorithm (MOμGA) has been utilized to determine the PSFαSMC controller’s parameter alignment in a training process with three ride comfort objectives for the vehicle semi-active suspension, which is called the “offline” step. Then, the optimized parameters are applied to the real-time control process by the polynomial function supervising controller, which is named “online” step. A two-degree-of-freedom dynamic model of the vehicle semi-active suspension systems with the stability analysis is given for passenger’s ride comfort enhancement studies, and a simulation with the given initial conditions has been devised in MATLAB. The numerical results have shown that this hybrid control method is able to provide real-time enhanced level of reliable ride comfort performance for the semi-active suspension system.

scholarly journals The algorithm of adaptive control for active suspension systems using pole assign and cascade design method

2020 ◽  
Vol 9 (4) ◽  
pp. 271
Author(s):  
Chi Nguyen Van
Keyword(s):  
Control Method ◽  
Reference Model ◽  
Active Suspension ◽  
Suspension System ◽  
Control Force ◽  
Control Loop ◽  
The Road ◽  
Suspension Systems ◽  
Road Profile ◽  
Control Scheme

This paper presents the active suspension system (ASS) control method using the adaptive cascade control scheme. The control scheme is implemented by two control loops, the inner control loop and outer control loop are designed respectively. The inner control loop uses the pole assignment method in order to move the poles of the original system to desired poles respect to the required performance of the suspension system. To design the controller in the inner loop, the model without the noise caused by the road profile and velocity of the car is used. The outer control loop then designed with an adaptive mechanism calculates the active control force to compensate for the vibrations caused by the road profile and velocity of the car. The control force is determined by the error between states of the reference model and states of suspension systems, the reference model is the model of closed-loop with inner control loop without the noise. The simulation results implemented by using the practice date of the road profile show that the capability of oscillation decrease for ASS is quite efficient

H-Infinity Controlled Actuators in Automotive Active Suspension System

2008 ◽  
Author(s):  
Alesˇ Kruczek ◽  
Antoni´n Strˇi´brsky´ ◽  
Katerˇina Hyniova´ ◽  
Martin Hlinovsky´
Keyword(s):  
Energy Consumption ◽  
Energy Distribution ◽  
Real Time ◽  
Electric Motor ◽  
Active Suspension ◽  
Suspension System ◽  
Vehicle Suspension ◽  
Specific Situation ◽  
Energy Control ◽  
H Infinity

In this paper active suspension with linear electric motor has been designed. The active suspension is often hardly rejected for its big energy consumption. This contribution deals with direct real-time energy control in suspension system. The linear electric motor is used as an actuator. This motor can in specific situation generate the energy for next use. The H-infinity controller has been developed to improve car behavior, in particular passenger comfort and car stability. The second objective of the controller is to control energy distribution. Our submission is mainly focused on vehicle suspension, but it can be generalized to any kind of active suspension.

scholarly journals Optimal Control of an 8-DOF Vehicle Active Suspension System Using Kalman Observer

2008 ◽  
Vol 15 (5) ◽  
pp. 493-503 ◽  
Author(s):  
S. Hossein Sadati ◽  
Salar Malekzadeh ◽  
Masood Ghasemi
Keyword(s):  
Optimal Control ◽  
Ride Comfort ◽  
Active Suspension ◽  
Suspension System ◽  
The Body ◽  
Control Approach ◽  
Seat Suspension ◽  
Handling Characteristics ◽  
Road Profile ◽  
Passive Suspension System

In this paper, an 8-DOF model including driver seat dynamics, subjected to random road disturbances is used in order to investigate the advantage of active over conventional passive suspension system. Force actuators are mounted parallel to the body suspensions and the driver seat suspension. An optimal control approach is taken in the active suspension used in the vehicle. The performance index for the optimal control design is a quantification of both ride comfort and road handling. To simulate the real road profile condition, stochastic inputs are applied. Due to practical limitations, not all the states of the system required for the state-feedback controller are measurable, and hence must be estimated with an observer. In this paper, to have the best estimation, an optimal Kalman observer is used. The simulation results indicate that an optimal observer-based controller causes both excellent ride comfort and road handling characteristics.

scholarly journals Experimental Researches on the Dynamic Behavior of the Magnetorheological Damper

2020 ◽  
Author(s):  
Alexandru Dobre
Keyword(s):  
Dynamic Behavior ◽  
Shock Absorber ◽  
Active Suspension ◽  
Suspension System ◽  
Magnetorheological Damper ◽  
Passenger Cars ◽  
Damping Force ◽  
The Road ◽  
Shock Absorbers ◽  
Road Profile

In the context of improving the comfort and dynamics of the vehicle, the suspension system has been continuously developed and improved, especially using magnetorheological (MR) shock absorbers. The development of this technology which is relatively new has not been easy. Thus, the first widespread commercial use of MR fluid in a semi-active suspension system was implemented in passenger cars. The magnetorheological shock absorber can combine the comfort with the dynamic driving, because it allows the damping characteristic to be adapted to the road profile. The main objective of the paper is to analyze the dynamic behavior of the magnetorheological shock absorber in the semi-active suspension. In this sense, the author carried out a set of experimental measurements with a damping test bench, specially built and equipped with modern equipment. The results obtained from the experimental determinations show a significantly improved comfort when using a magnetorheological shock absorber, compared to a classic one, by the fact that the magnetorheological shock absorber allows to modify the damping coefficient according to the road conditions, thus maintaining the permanent contact between the tire and the road due to increased damping force.

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